Add files using upload-large-folder tool

handover_mic/arx-x5_clean_50/scene_info.json

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handover_mic/arx-x5_clean_50/seed.txt

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handover_mic/franka_randomized_500/seed.txt

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handover_mic/ur5_clean_50/scene_info.json

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+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_20": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_21": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_22": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_23": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_24": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_25": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_26": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_27": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_28": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_29": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_30": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_31": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_32": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_33": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_34": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_35": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_36": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_37": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_38": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_39": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_40": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_41": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_42": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_43": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_44": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_45": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_46": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_47": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_48": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_49": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    }
+}

handover_mic/ur5_clean_50/seed.txt

@@ -0,0 +1 @@
+1 12 13 25 27 48 62 73 84 87 105 120 130 160 162 178 181 186 188 192 193 197 202 205 208 219 223 225 232 251 262 269 279 280 281 286 287 288 292 300 308 334 336 344 349 359 366 376 377 386 

handover_mic/ur5_randomized_500/instructions/episode0.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.",
+    "Pick up the microphone covered with foam tip and move it to the opposite side",
+    "Use the right arm to grab the small audio microphone and transfer it to the left arm.",
+    "Pick the medium microphone with two-tone color from the surface and switch hands.",
+    "Grip the dark blue microphone and pass it to the other side",
+    "Secure the round head microphone using one arm and transfer it.",
+    "Grab the gray and dark blue 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.",
+    "Grab the microphone with dark blue padding and give it to the opposite arm.",
+    "Pick up the microphone covered with foam tip 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 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.",
+    "Secure the medium microphone with two-tone color from the table and transfer it.",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Lift the gray stem microphone with foam top and hand it over to the other arm.",
+    "Grasp the microphone with round foam head and shift it to the opposite hand.",
+    "Seize the gray stem microphone with foam top and offer it to the other arm",
+    "Hold the audio microphone with soft covering and shift it to the other arm.",
+    "Hold the microphone with smooth gray stem and pass it to the other hand.",
+    "Take the microphone covered with foam tip and move it to the other hand.",
+    "Use one hand to grab the round head microphone and pass it.",
+    "Reach for the gray stem microphone with foam top and move it to the other hand.",
+    "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 and pass it to another hand",
+    "Hold the audio microphone with soft covering securely and shift it to another arm.",
+    "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 dark blue microphone and transfer it to the other arm.",
+    "Take the gray and dark blue microphone and move it to another hand.",
+    "Lift the microphone with dark blue padding and hand it over to the other side.",
+    "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 transfer it to another hand",
+    "Take the small audio microphone, shift it, and release it to the other side.",
+    "Lift the microphone with round foam head and deliver it to the other side.",
+    "Grasp the microphone for recording sound and pass it across.",
+    "Hold the microphone with dark blue padding firmly and pass it to the other arm.",
+    "Lift the small audio microphone and pass it across.",
+    "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.",
+    "Pick up the microphone with smooth gray stem and hand 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 hand it to the other side easily.",
+    "Hold the microphone covered with foam tip 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.",
+    "Pick up the audio microphone with soft covering and move it to the opposite side",
+    "Use the right arm to grab the dark blue microphone and transfer it to the left arm.",
+    "Pick the microphone covered with foam tip from the surface and switch hands.",
+    "Grip the microphone for recording sound and pass it to the other side",
+    "Secure the dark blue microphone using one arm and transfer it.",
+    "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, pass it, and release it to complete the task.",
+    "Grab the microphone with smooth gray stem and give it to the opposite arm.",
+    "Pick up the dark blue microphone and transfer it to the opposite side.",
+    "Lift the round head microphone using the right arm and pass it to the left arm.",
+    "Lift the microphone for recording sound, then pass it across without delay.",
+    "Grasp the round head microphone, transfer it, then let go of it smoothly.",
+    "Secure the microphone with smooth gray stem from the table and transfer it.",
+    "Lift the medium microphone with two-tone color and hand it to someone else.",
+    "Grasp the microphone covered with foam tip and switch it to another hand.",
+    "Lift the round head microphone and hand it over to the other arm.",
+    "Grasp the gray stem microphone with foam top and shift it to the opposite hand.",
+    "Seize the small audio microphone and offer it to the other arm",
+    "Hold the audio microphone with soft covering and shift it to the other arm.",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Take the small audio microphone and move it to the other hand.",
+    "Use one hand to grab the microphone covered with foam tip and pass it.",
+    "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 microphone with round foam head and pass it to another hand",
+    "Hold the small audio microphone securely and shift it to another arm.",
+    "Grasp the microphone covered with foam tip, then give it to the other arm.",
+    "Pick up the microphone covered with foam tip, pass it to the other arm, and release.",
+    "Pick the microphone for recording sound 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 over to the other side.",
+    "Hold the medium microphone with two-tone color with the right arm and give it to the left arm.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Take the round head microphone, shift it, and release it to the other side.",
+    "Lift the microphone with round foam head and deliver it to the other side.",
+    "Grasp the small audio microphone and pass it across.",
+    "Hold the medium microphone with two-tone color firmly and pass it to the other arm.",
+    "Lift the audio microphone with soft covering and pass it across.",
+    "Grab the microphone with round foam head and smoothly give it to the other arm.",
+    "Hold the microphone covered with foam tip and deliver it to another side.",
+    "Pick up the dark blue microphone and hand 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 microphone with smooth gray stem and hand it to the other side easily.",
+    "Hold the gray and dark blue microphone 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 up the microphone with dark blue padding and move it to the opposite side",
+    "Use the right arm to grab the small audio microphone and transfer it to the left arm.",
+    "Pick the audio microphone with soft covering from the surface and switch hands.",
+    "Grip the medium microphone with two-tone color and pass it to the other side",
+    "Secure the microphone with round foam head using one arm and transfer it.",
+    "Grab the dark blue microphone 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.",
+    "Grab the microphone with dark blue padding and give it to the opposite arm.",
+    "Pick up the microphone with round foam head and transfer it to the opposite side."
+  ],
+  "unseen": [
+    "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 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",
+    "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 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 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 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 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.",
+    "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 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 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",
+    "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 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",
+    "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.",
+    "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",
+    "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 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",
+    "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 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",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 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.",
+    "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 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 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",
+    "Grab the compact microphone with two parts and pass it to the other arm."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with black tip and white body, 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 handheld microphone and give it to the other.",
+    "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.",
+    "Use one hand to grab the microphone for voice recording and pass it.",
+    "Lift the black and white microphone and hand it over to the other arm.",
+    "Secure the smooth plastic microphone handle from the table and transfer it.",
+    "Grasp the microphone with rounded mesh head and switch it to another hand.",
+    "Grab the smooth plastic microphone handle and give it to the opposite arm.",
+    "Hold the smooth plastic microphone handle and shift it to the other arm.",
+    "Lift the black and white microphone and hand it to someone else.",
+    "Pick up the microphone with textured metal head and move it to the opposite side",
+    "Take the black and white 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.",
+    "Take the white microphone handle black accents, pass it, and release it to complete the task.",
+    "Reach for 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.",
+    "Hold the handheld microphone securely and shift it to another arm.",
+    "Grip the microphone for voice recording and pass it to the other side",
+    "Hold the microphone with textured metal head firmly and pass it to the other arm.",
+    "Grasp the microphone with cylindrical handle and pass it across.",
+    "Lift the microphone for voice recording and hand it to the other side easily.",
+    "Grasp the handheld microphone, then give 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",
+    "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.",
+    "Pick the mesh-patterned microphone head from the surface and switch hands.",
+    "Secure the mesh-patterned microphone head using one arm and transfer it.",
+    "Take the handheld microphone and move it to another hand.",
+    "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.",
+    "Take the black and white microphone, shift it, and release it to the other side.",
+    "Pick the mesh-patterned microphone head and transfer it to the other arm.",
+    "Hold the mesh-patterned microphone head with one hand and transfer it",
+    "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.",
+    "Lift the smooth plastic microphone handle, then pass it across without delay.",
+    "Lift the metal head microphone and deliver it to the other side.",
+    "Hold the microphone with black tip and white body and pass 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 using the left arm and pass it to the right arm.",
+    "Use the left arm to hold the handheld microphone, then give it to the right arm.",
+    "Grab the microphone for voice recording and transfer it to another hand",
+    "Pick up the microphone for voice recording and hand it to the other side.",
+    "Lift the white microphone handle black accents and hand it over to the other side.",
+    "Lift the smooth plastic microphone handle and pass it across.",
+    "Pick up the microphone for voice recording and transfer it to the opposite side.",
+    "Pick up the metal head microphone, pass it to the other arm, and release.",
+    "Take the microphone with textured metal head and pass it to another hand",
+    "Use one arm to pick up the white microphone handle black accents and give it to the other.",
+    "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 smooth plastic microphone handle and pass it.",
+    "Lift the microphone with rounded mesh head and hand it over to the other arm.",
+    "Secure the black and white microphone from the table and transfer it.",
+    "Grasp the smooth plastic microphone handle and switch it to another hand.",
+    "Grab the microphone with cylindrical handle and give it to the opposite 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 up the microphone with cylindrical handle and move it to the opposite side",
+    "Take the microphone with black tip and white body and move it to the other hand.",
+    "Hold the handheld microphone with the left arm and give it to the right arm.",
+    "Take the handheld microphone, pass it, and release it to complete the task.",
+    "Reach for the compact size microphone and move it to the other hand.",
+    "Hold the metal head microphone and deliver it to another side.",
+    "Hold the microphone with textured metal head securely and shift it to another arm.",
+    "Grip the black and white microphone and pass it to the other side",
+    "Hold the microphone with cylindrical handle firmly and pass it to the other arm.",
+    "Grasp the compact size microphone and pass it across.",
+    "Lift the microphone with black tip and white body and hand it to the other side easily.",
+    "Grasp the black and white microphone, then give it to the other arm.",
+    "Grasp the mesh-patterned microphone head and shift it to the opposite hand.",
+    "Seize the metal head microphone 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.",
+    "Pick the metal head microphone from the surface and switch hands.",
+    "Secure the microphone with cylindrical handle using one arm and transfer it.",
+    "Take the microphone with rounded mesh head 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.",
+    "Take the smooth plastic microphone handle, shift it, and release it to the other side.",
+    "Pick the metal head microphone and transfer it to the other arm.",
+    "Hold the microphone with textured metal head with one hand and transfer it",
+    "Grasp the compact size microphone, transfer it, then let go of it smoothly.",
+    "Lift the microphone for voice recording, then pass it across without delay.",
+    "Lift the microphone for voice recording and deliver it to the other side.",
+    "Hold the microphone with cylindrical handle and pass it to the other hand.",
+    "Grab the microphone with textured metal head and smoothly give it to the other arm.",
+    "Lift the microphone with cylindrical handle using the left arm and pass 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 and transfer it to another hand",
+    "Pick up the microphone with textured metal head and hand it to the other side.",
+    "Lift the microphone with black tip and white body and hand it over to the other side.",
+    "Lift the metal head microphone and pass it across.",
+    "Pick up the microphone with rounded mesh head and transfer it to the opposite side.",
+    "Pick up the white microphone handle black accents, pass it to the other arm, and release.",
+    "Take the handheld microphone and pass it to another hand",
+    "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 microphone for voice recording and transfer it to the right arm.",
+    "Use one hand to grab the compact size microphone and pass it.",
+    "Lift the smooth plastic microphone handle and hand it over to the other arm.",
+    "Secure the black and white microphone from the table and transfer it.",
+    "Grasp the handheld microphone and switch it to another hand.",
+    "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."
+  ],
+  "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 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 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 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",
+    "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 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",
+    "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 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 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 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 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.",
+    "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 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.",
+    "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 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 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 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 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 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 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 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",
+    "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 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 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 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",
+    "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 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",
+    "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 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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone for voice recording and transfer it to the opposite side.",
+    "Grab the compact size microphone using the left arm and pass it over to the right arm.",
+    "Grasp the compact size microphone and pass it across.",
+    "Reach for the microphone with cylindrical handle and move it to the other hand.",
+    "Hold the handheld microphone with one hand and transfer it",
+    "Use one arm to pick up the microphone with textured metal head and give it to the other.",
+    "Lift the handheld microphone 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.",
+    "Lift the mesh-patterned microphone head and hand it over to the other arm.",
+    "Take the compact size microphone and move it to another hand.",
+    "Pick up the metal head 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.",
+    "Take the handheld microphone and move it to the other hand.",
+    "Grasp the mesh-patterned microphone head and switch it to another hand.",
+    "Lift the microphone with black tip and white body, then pass it across without delay.",
+    "Secure the smooth plastic microphone handle using one arm and transfer it.",
+    "Grip the compact size microphone and pass it to the other side",
+    "Pick the black and white microphone from the surface and switch hands.",
+    "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 white microphone handle black accents, then give it to the right arm.",
+    "Take the handheld microphone, shift it, and release it to the other side.",
+    "Take the microphone with black tip and white body, pass it, and release it to complete the task.",
+    "Lift the microphone for voice recording and hand it to the other side easily.",
+    "Hold the microphone with textured metal head and shift it to the other arm.",
+    "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.",
+    "Pick the handheld 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.",
+    "Hold the microphone with textured metal head securely and shift it to another arm.",
+    "Use one hand to grab the compact size microphone and pass it.",
+    "Hold the microphone with black tip and white body with the left arm and give it to the right arm.",
+    "Seize the smooth plastic microphone handle and offer it to the other arm",
+    "Pick up the microphone with textured metal head and move it to the opposite side",
+    "Pick up the white microphone handle black accents and hand it to the other side.",
+    "Grasp the white microphone handle black accents, then give it to the other arm.",
+    "Lift the microphone with textured metal head and deliver it to the other side.",
+    "Grab the microphone with textured metal head and transfer it to another hand",
+    "Grab the metal head microphone and give it to the opposite arm.",
+    "Take the compact size microphone using the left arm and transfer it to the right arm.",
+    "Lift the smooth plastic microphone handle and pass it across.",
+    "Take the compact size microphone and pass it to another hand",
+    "Grab the metal head microphone and smoothly give it to the other arm.",
+    "Hold the microphone with textured metal head and pass it to the other hand.",
+    "Grasp the white microphone handle black accents and shift it to the opposite hand.",
+    "Pick up the black and white microphone and transfer it to the opposite side.",
+    "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.",
+    "Grasp the mesh-patterned microphone head and pass it across.",
+    "Reach for the black and white microphone and move it to the other hand.",
+    "Hold the mesh-patterned microphone head 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.",
+    "Lift the metal head microphone and hand it over to the other side.",
+    "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.",
+    "Lift the microphone with textured metal head and hand it over to the other arm.",
+    "Take the smooth plastic microphone handle and move it to another hand.",
+    "Pick up the microphone for voice recording, pass it to the other arm, and release.",
+    "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.",
+    "Grasp the microphone with textured metal head and switch it to another hand.",
+    "Lift the microphone with cylindrical handle, then pass it across without delay.",
+    "Secure the mesh-patterned microphone head using one arm and transfer it.",
+    "Grip the mesh-patterned microphone head and pass it to the other side",
+    "Pick the handheld microphone from the surface and switch hands.",
+    "Secure the smooth plastic microphone handle from the table and transfer it.",
+    "Lift the microphone with textured metal head and hand it to someone else.",
+    "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, shift it, and release it to the other side.",
+    "Take the mesh-patterned microphone 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 microphone with cylindrical handle and shift it to the other arm.",
+    "Hold the microphone with black tip and white body and deliver it to another side.",
+    "Hold the microphone with black tip and white body firmly and pass it to the other arm.",
+    "Pick the white microphone handle black accents and transfer it to the other arm.",
+    "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.",
+    "Hold the white microphone handle black accents securely and shift it to another arm.",
+    "Use one hand to grab the black and white microphone and pass it.",
+    "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.",
+    "Seize the microphone for voice recording and offer it to the other arm",
+    "Pick up the compact size microphone and move it to the opposite side",
+    "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.",
+    "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",
+    "Grab the microphone with rounded mesh head and give it to the opposite arm.",
+    "Take the handheld microphone using the left arm and transfer it to the right arm.",
+    "Lift the microphone for voice recording and pass it across.",
+    "Take the microphone for voice recording and pass it to another hand",
+    "Grab the smooth plastic microphone handle and smoothly give it to the other arm.",
+    "Hold the smooth plastic microphone handle and pass it to the other hand.",
+    "Grasp the smooth plastic microphone handle 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 using the left arm and pass it over to the right arm.",
+    "Grasp the microphone with cylindrical handle and pass it across.",
+    "Reach for the microphone with black tip and white body and move it to the other hand.",
+    "Hold the mesh-patterned microphone head with one hand and transfer it",
+    "Use one arm to pick up the smooth plastic microphone handle and give it to the other.",
+    "Lift the compact size microphone 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.",
+    "Lift the microphone with textured metal head and hand it over to the other arm.",
+    "Take the compact size microphone and move it to another hand."
+  ],
+  "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 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 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.",
+    "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",
+    "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 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 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 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 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.",
+    "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",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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 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 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 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 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 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.",
+    "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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode101.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.",
+    "Hold the microphone with smooth gray stem with one hand and transfer it",
+    "Grab the gray stem microphone with foam top and smoothly give it to the other arm.",
+    "Grasp the round head microphone and shift it to the opposite hand.",
+    "Pick the gray stem microphone with foam top from the surface and switch hands.",
+    "Lift the dark blue microphone and hand it over to the other arm.",
+    "Hold the small audio microphone and deliver it to another side.",
+    "Seize the small audio microphone 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.",
+    "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 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.",
+    "Hold the gray and dark blue microphone 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.",
+    "Take the medium microphone with two-tone color, shift it, and release it to the other side.",
+    "Take the gray and dark blue microphone and move it to another hand.",
+    "Grab the microphone covered with foam tip and give it to the opposite arm.",
+    "Pick up the medium microphone with two-tone color and transfer it to the opposite side.",
+    "Take the medium microphone with two-tone color, pass it, and release it to complete the task.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Grasp the round head microphone and pass it across.",
+    "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.",
+    "Lift the microphone for recording sound and hand it over to the other side.",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "Pick up the microphone with smooth gray stem and move it to the opposite side",
+    "Pick up the small audio microphone, pass it to the other arm, and release.",
+    "Secure the microphone with dark blue padding from the table and transfer it.",
+    "Hold the microphone with smooth gray stem securely and shift it to another arm.",
+    "Take the microphone with dark blue padding and pass it to another hand",
+    "Hold the audio microphone with soft covering 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 microphone with round foam head 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 and pass it across.",
+    "Pick up the gray stem microphone with foam top and hand it to the other side.",
+    "Secure the gray and dark blue microphone using one arm and transfer it.",
+    "Lift the gray and dark blue microphone using the right arm and pass 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 and hand it to the other side easily.",
+    "Take the microphone with smooth gray stem and move it to the other hand.",
+    "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.",
+    "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.",
+    "Hold the microphone with round foam head with one hand and transfer it",
+    "Grab the audio microphone with soft covering and smoothly give it to the other arm.",
+    "Grasp the microphone with dark blue padding and shift it to the opposite hand.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Lift the gray and dark blue microphone and hand it over to the other arm.",
+    "Hold the dark blue microphone and deliver it to another side.",
+    "Seize the microphone covered with foam tip and offer it to the other arm",
+    "Grab the small audio microphone using the right arm and pass it over to the left arm.",
+    "Use the right arm to grab the round head microphone and transfer it to the left arm.",
+    "Hold the gray stem microphone with foam top 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.",
+    "Hold the microphone with round foam head firmly and pass it to the other arm.",
+    "Use the right arm to hold the small audio microphone, then 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 and move it to another hand.",
+    "Grab the round head microphone and give it to the opposite arm.",
+    "Pick up the audio microphone with soft covering and transfer it to the opposite side.",
+    "Take the gray stem microphone with foam top, pass it, and release it to complete the task.",
+    "Grab the small audio microphone and transfer it to another hand",
+    "Grasp the gray and dark blue microphone and pass it across.",
+    "Use one hand to grab the medium microphone with two-tone color and pass it.",
+    "Reach for the audio microphone with soft covering and move it to the other hand.",
+    "Lift the microphone with smooth gray stem and hand it over to the other side.",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "Grasp the microphone covered with foam tip and switch it to another hand.",
+    "Grip the microphone with round foam head and pass 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.",
+    "Secure the small audio microphone from the table and transfer it.",
+    "Hold the small audio microphone securely and shift it to another arm.",
+    "Take the audio microphone with soft covering and pass it to another hand",
+    "Hold the gray and dark blue microphone with the right arm and give it to the left arm.",
+    "Lift the dark blue microphone, then pass it across without delay.",
+    "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.",
+    "Lift the microphone for recording sound and pass it across.",
+    "Pick up the round head microphone and hand it to the other side.",
+    "Secure the microphone with round foam head using one arm and transfer it.",
+    "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.",
+    "Pick the dark blue microphone and transfer it 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 and move 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 using the right arm and transfer it to the left arm.",
+    "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.",
+    "Hold the microphone covered with foam tip with one hand and transfer it",
+    "Grab the round head microphone and smoothly give it to the other arm.",
+    "Grasp the round head microphone and shift it to the opposite hand.",
+    "Pick the microphone with dark blue padding from the surface and switch hands.",
+    "Lift the microphone with round foam head and hand it over to the other arm.",
+    "Hold the microphone for recording sound and deliver it to another side.",
+    "Seize the gray and dark blue microphone and offer it to the other arm",
+    "Grab the microphone with round foam head 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."
+  ],
+  "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 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 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 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 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.",
+    "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 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 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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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 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 handheld microphone and transfer it to the other hand.",
+    "Pick up the compact microphone with two parts and hand it over"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode102.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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 switch it to another hand.",
+    "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.",
+    "Take the audio microphone with soft covering and move it to another hand.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Lift the dark blue microphone and pass it across.",
+    "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",
+    "Use one hand to grab the microphone with smooth gray stem and pass it.",
+    "Secure the medium microphone with two-tone color using one arm and transfer it.",
+    "Lift the microphone for recording sound and hand it over to the other 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 small audio 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, shift it, and release it to the other side.",
+    "Secure the microphone covered with foam tip from the table and transfer it.",
+    "Seize the microphone with smooth gray stem and offer it to the other arm",
+    "Grab the microphone with dark blue padding and smoothly give it to the other arm.",
+    "Grasp the medium microphone with two-tone color 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.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Pick up the microphone with dark blue padding and hand it to the other side.",
+    "Grasp the dark blue microphone and pass it across.",
+    "Grip the gray stem microphone with foam top and pass 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.",
+    "Take the microphone covered with foam tip and move it to the other hand.",
+    "Hold the gray and dark blue microphone firmly and pass it to the other arm.",
+    "Hold the microphone with smooth gray stem and shift it to the other arm.",
+    "Lift the audio microphone with soft covering and hand it over to the other 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 deliver it to the other side.",
+    "Reach for the audio microphone with soft covering and move it to the other hand.",
+    "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.",
+    "Pick up the round head microphone and move it to the opposite side",
+    "Lift the microphone with dark blue padding and hand it to the other side easily.",
+    "Pick the small audio microphone and transfer it to the other arm.",
+    "Grab the microphone for recording sound using the right arm and pass it over to the left arm.",
+    "Lift the small audio microphone and hand it to someone else.",
+    "Hold the gray and dark blue microphone with one hand and transfer it",
+    "Grasp the microphone for recording sound, 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.",
+    "Use the right arm to grab the round head microphone and transfer it to the left arm.",
+    "Take the audio microphone with soft covering, pass it, and release it to complete the task.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Hold the gray and dark blue microphone securely and shift it to another 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.",
+    "Grab the gray stem microphone with foam top and transfer it to another hand",
+    "Lift the microphone with dark blue padding and pass it across.",
+    "Grab the dark blue microphone and give it to the opposite arm.",
+    "Take the audio microphone with soft covering and pass it to another hand",
+    "Use one hand to grab the microphone for recording sound and pass it.",
+    "Secure the microphone with round foam head using one arm and transfer it.",
+    "Lift the medium microphone with two-tone color and hand it over to the other arm.",
+    "Grasp the gray and dark blue microphone, 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.",
+    "Hold the microphone with round foam head and deliver it to another side.",
+    "Pick up the microphone covered with foam tip and transfer it to the opposite side.",
+    "Take the microphone with smooth gray stem, shift it, and release it to the other side.",
+    "Secure the gray stem microphone with foam top from the table and transfer it.",
+    "Seize the dark blue microphone and offer 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 round foam head and shift it to the opposite hand.",
+    "Hold the gray and dark blue microphone with the right arm and give it to the left arm.",
+    "Pick the microphone covered with foam tip from the surface and switch hands.",
+    "Pick up the dark blue microphone and hand it to the other side.",
+    "Grasp the gray and dark blue microphone and pass it across.",
+    "Grip the gray and dark blue microphone and pass it to the other side",
+    "Lift the gray stem microphone with foam top, then pass it across without delay.",
+    "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.",
+    "Take the gray and dark blue microphone and move it to the other hand.",
+    "Hold the dark blue microphone firmly and pass it to the other arm.",
+    "Hold the microphone covered with foam tip and shift it to the other arm.",
+    "Lift the small audio 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.",
+    "Lift the microphone with dark blue padding and deliver it to the other side.",
+    "Reach for the microphone covered with foam tip and move it to the other hand.",
+    "Pick up the microphone with dark blue padding, pass it to the other arm, and release.",
+    "Pick up the round head microphone and move it to the opposite side",
+    "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 small audio microphone using the right arm and pass it over to the left arm.",
+    "Lift the small audio microphone and hand it to someone else.",
+    "Hold the gray stem microphone with foam top with one hand and transfer it",
+    "Grasp the round head microphone, transfer it, then let go of it smoothly.",
+    "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.",
+    "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, pass it, and release it to complete the task.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Hold the small audio microphone securely and shift it to another arm.",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "Grab the microphone covered with foam tip and transfer it to another hand",
+    "Lift the audio microphone with soft covering and pass it across.",
+    "Grab the microphone with round foam head and give it to the opposite arm.",
+    "Take the gray and dark blue microphone and pass it to another hand",
+    "Use one hand to grab the gray stem microphone with foam top and pass it."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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",
+    "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 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 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.",
+    "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 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.",
+    "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 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 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 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 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 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 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.",
+    "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 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 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.",
+    "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.",
+    "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",
+    "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 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 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 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 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 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 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.",
+    "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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode108.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Take the small audio microphone 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.",
+    "Pick the microphone covered with foam tip from the surface and switch hands.",
+    "Secure the microphone with dark blue padding from the table and transfer it.",
+    "Lift the microphone with smooth gray stem 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 up the microphone with smooth gray stem 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 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, then pass it across without delay.",
+    "Secure the microphone covered with foam tip using one arm and transfer it.",
+    "Hold the gray and dark blue microphone and pass it to the other hand.",
+    "Lift the microphone with dark blue padding and pass it across.",
+    "Lift the audio microphone with soft covering and hand it to the other side easily.",
+    "Pick up the small audio microphone 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.",
+    "Take the round head microphone, 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 small audio microphone and hand it to someone else.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Hold the round head microphone with one hand and transfer it",
+    "Seize the microphone covered with foam tip and offer it to the other arm",
+    "Hold the round head microphone and deliver it to another side.",
+    "Grab the small audio microphone and smoothly give it to the other arm.",
+    "Pick the gray and dark blue microphone and transfer it to the other arm.",
+    "Take the gray and dark blue microphone, shift it, and release 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 deliver it to the other side.",
+    "Grasp the microphone with smooth gray stem and shift it to the opposite hand.",
+    "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 small audio microphone, then give it to the left arm.",
+    "Grasp the microphone covered with foam tip and pass it across.",
+    "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.",
+    "Hold the round head microphone with the right arm and give it to the left arm.",
+    "Take the round head microphone and move it to another hand.",
+    "Pick up the microphone with smooth gray stem and transfer it to the opposite side.",
+    "Take the audio microphone with soft covering and move it to the other hand.",
+    "Hold the microphone with round foam head and shift it to the other arm.",
+    "Take the microphone with round foam head and pass it to another hand",
+    "Hold the microphone with dark blue padding securely and shift it to another arm.",
+    "Grasp the microphone covered with foam tip, then give it to the other arm.",
+    "Reach for the microphone with smooth gray stem and move it to the other hand.",
+    "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.",
+    "Grab the audio microphone with soft covering and transfer it to another hand",
+    "Take the microphone for recording sound 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.",
+    "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.",
+    "Lift the microphone with round foam head 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.",
+    "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 side.",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "Grip the microphone with smooth gray stem and pass it to the other side",
+    "Lift the microphone with smooth gray stem, then pass it across without delay.",
+    "Secure the gray and dark blue microphone using one arm and transfer it.",
+    "Hold the microphone with smooth gray stem and pass it to the other hand.",
+    "Lift the dark blue microphone and pass it across.",
+    "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 move it to the opposite side",
+    "Lift the microphone with dark blue padding 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.",
+    "Use the right arm to grab the round head microphone and transfer it to the left arm.",
+    "Lift the round head microphone and hand it to someone else.",
+    "Grab the microphone covered with foam tip and give it to the opposite 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",
+    "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.",
+    "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.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Lift the round head microphone and deliver it to the other side.",
+    "Grasp the microphone with dark blue padding 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.",
+    "Use the right arm to hold the small audio microphone, then give it to the left arm.",
+    "Grasp the microphone with dark blue padding and pass it across.",
+    "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.",
+    "Hold the gray stem microphone with foam top 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.",
+    "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 gray and dark blue microphone and shift it to the other arm.",
+    "Take the audio microphone with soft covering and pass it to another hand",
+    "Hold the audio microphone with soft covering securely and shift it to another arm.",
+    "Grasp the gray stem microphone with foam top, then give it to the other arm.",
+    "Reach for the microphone with dark blue padding and move it to the other hand.",
+    "Pick up the gray and dark blue microphone, pass it to the other arm, and release.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Take the round head 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.",
+    "Pick the microphone covered with foam tip from the surface and switch hands.",
+    "Secure the small audio microphone from the table and transfer it.",
+    "Lift the gray stem microphone with foam top 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.",
+    "Pick up the microphone for recording sound and hand it to the other side.",
+    "Lift the gray and dark blue microphone and hand it over to the other side.",
+    "Grasp the dark blue microphone and switch it to another hand."
+  ],
+  "unseen": [
+    "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 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 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 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 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 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 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",
+    "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 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 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.",
+    "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",
+    "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.",
+    "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",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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",
+    "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 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",
+    "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 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",
+    "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.",
+    "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 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.",
+    "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 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 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 compact microphone with two parts and hand it over."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode109.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the microphone with textured metal head and pass it to the other side",
+    "Grasp the metal head microphone, then give it to the other arm.",
+    "Grab the mesh-patterned microphone head and transfer it to another hand",
+    "Take the microphone with cylindrical handle, 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.",
+    "Take the compact size microphone and pass it to another hand",
+    "Hold the metal head microphone and shift it to the other arm.",
+    "Pick the metal head microphone from the surface and switch hands.",
+    "Pick up the compact size microphone, pass it to the other arm, and release.",
+    "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.",
+    "Hold the microphone with rounded mesh head and deliver it to another side.",
+    "Seize the microphone with cylindrical handle and offer it to the other arm",
+    "Take the microphone with cylindrical handle and move it to the other hand.",
+    "Grasp the microphone with black tip and white body and pass it across.",
+    "Grab the microphone for voice recording and give it to the opposite arm.",
+    "Lift the metal head microphone and deliver it to the other side.",
+    "Reach for the black and white microphone and move it to the other hand.",
+    "Hold the handheld microphone with the right arm and give it to the left arm.",
+    "Lift the metal head microphone and hand it over to the other arm.",
+    "Pick up the microphone with rounded mesh head and move it to the opposite side",
+    "Grasp the compact size microphone and switch it to another hand.",
+    "Hold the metal head microphone securely and shift it to another arm.",
+    "Lift the microphone with cylindrical handle and hand it to someone else.",
+    "Take the handheld microphone using the right arm 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.",
+    "Lift the microphone with black tip and white body and hand it over to the other side.",
+    "Hold the mesh-patterned microphone head and pass it to the other hand.",
+    "Take the smooth plastic microphone handle and move it to another hand.",
+    "Grab the microphone for voice recording and smoothly give it to the other arm.",
+    "Use one hand to grab the smooth plastic microphone handle and pass it.",
+    "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.",
+    "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.",
+    "Pick the black and white microphone and transfer it to the other arm.",
+    "Grasp the microphone with cylindrical handle and shift it to the opposite hand.",
+    "Hold the metal head microphone firmly and pass it to the other arm.",
+    "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.",
+    "Secure the microphone for voice recording from the table and transfer it.",
+    "Take the microphone for voice recording, 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.",
+    "Use one arm to pick up the microphone with textured metal head and give it to the other.",
+    "Lift the microphone with cylindrical handle and pass it across.",
+    "Lift the metal head microphone, then pass it across without delay.",
+    "Secure the compact size microphone using one arm and transfer it.",
+    "Grip the microphone with textured metal head and pass it to the other side",
+    "Grasp the black and white microphone, then give it to the other arm.",
+    "Grab the metal head microphone and transfer it to another hand",
+    "Take the black and white microphone, shift it, and release it to the other side.",
+    "Grasp the black and white microphone, transfer it, then let go of it smoothly.",
+    "Take the microphone for voice recording and pass it to another hand",
+    "Hold the microphone with black tip and white body and shift it to the other arm.",
+    "Pick the black and white microphone from the surface and switch hands.",
+    "Pick up the white microphone handle black accents, 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.",
+    "Hold the microphone with textured metal head and deliver it to another side.",
+    "Seize the mesh-patterned microphone head and offer it to the other arm",
+    "Take the mesh-patterned microphone head and move it to the other hand.",
+    "Grasp the compact size microphone and pass it across.",
+    "Grab the microphone with rounded mesh head and give it to the opposite arm.",
+    "Lift the black and white microphone and deliver it to the other side.",
+    "Reach for the compact size microphone and move it to the other hand.",
+    "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 over to the other arm.",
+    "Pick up the microphone with black tip and white body and move it to the opposite 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.",
+    "Lift the microphone with black tip and white body and hand it to someone else.",
+    "Take the microphone with textured metal head using the right arm 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.",
+    "Lift the microphone with textured metal head and hand it over to the other side.",
+    "Hold the microphone with rounded mesh head and pass it to the other hand.",
+    "Take the smooth plastic microphone handle and move it to another hand.",
+    "Grab the metal head microphone and smoothly give it to the other arm.",
+    "Use one hand to grab the white microphone handle black accents and pass it.",
+    "Pick up the microphone with textured metal head and hand it to the other side.",
+    "Lift the compact size microphone and hand it to the other side easily.",
+    "Hold the compact size microphone with one hand and transfer it",
+    "Pick up the white microphone handle black accents and transfer it to the opposite side.",
+    "Pick the microphone with black tip and white body and transfer it to the other arm.",
+    "Grasp the microphone with cylindrical handle and shift it to the opposite hand.",
+    "Hold the handheld microphone firmly and pass it to the other arm.",
+    "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.",
+    "Secure the smooth plastic microphone handle from the table and transfer it.",
+    "Take the microphone with cylindrical handle, 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.",
+    "Use one arm to pick up the microphone with cylindrical handle and give it to the other.",
+    "Lift the smooth plastic microphone handle and pass it across.",
+    "Lift the microphone with black tip and white body, then pass it across without delay.",
+    "Secure the microphone for voice recording using one arm and transfer it.",
+    "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.",
+    "Grab the black and white microphone and transfer it to another hand",
+    "Take the microphone with cylindrical handle, shift it, and release it to the other side.",
+    "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.",
+    "Take the compact size microphone and pass it to another hand",
+    "Hold the white microphone handle black accents and shift it to the other arm.",
+    "Pick the microphone with cylindrical handle from the surface and switch hands.",
+    "Pick up the metal head 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."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 transfer it to the other hand.",
+    "Pick up the black and white plastic microphone and hand it over"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small audio microphone and hand it to someone else.",
+    "Seize the microphone with dark blue padding and offer it to the other arm",
+    "Take the microphone for recording sound, pass it, and release it to complete the task.",
+    "Take the microphone with smooth gray stem and move it to another hand.",
+    "Grab the microphone covered with foam tip and transfer it to another hand",
+    "Lift the audio microphone with soft covering and pass it across.",
+    "Pick up the microphone for recording sound and hand it to the other side.",
+    "Pick the microphone for recording sound from the surface and switch hands.",
+    "Take the round head microphone and move it to the other hand.",
+    "Lift the microphone with dark blue padding, then pass it across without delay.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Pick the gray and dark blue microphone and transfer it to the other arm.",
+    "Secure the medium microphone with two-tone color from the table and transfer it.",
+    "Hold the dark blue microphone with the left arm and give it to the right arm.",
+    "Grasp the dark blue microphone, then give it to the other arm.",
+    "Hold the microphone with smooth gray stem and shift it to the other arm.",
+    "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 arm.",
+    "Grasp the gray and dark blue microphone and switch it to another hand.",
+    "Pick up the microphone with smooth gray stem and transfer it to the opposite side.",
+    "Hold the microphone with round foam head 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.",
+    "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.",
+    "Take the small audio microphone and pass it to another hand",
+    "Secure the microphone with round foam head using one arm 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 gray stem microphone with foam top and move it to the opposite side",
+    "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.",
+    "Grab the audio microphone with soft covering and smoothly give it to the other arm.",
+    "Grasp the gray and dark blue microphone and shift it to the opposite hand.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Grab the microphone with smooth gray stem 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.",
+    "Hold the gray and dark blue microphone and pass it to the other hand.",
+    "Use the left arm to hold the microphone for recording sound, then give it to the right arm.",
+    "Grip the microphone covered with foam tip and pass it to the other side",
+    "Lift the small audio microphone and deliver it to the other side.",
+    "Take the dark blue microphone using the left arm and transfer it to the right arm.",
+    "Hold the gray stem microphone with foam top securely and shift it to another arm.",
+    "Hold the microphone with dark blue padding with one hand and transfer it",
+    "Use one arm to pick up the microphone covered with foam tip and give it to the other.",
+    "Grasp the round head microphone and pass it across.",
+    "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.",
+    "Lift the microphone covered with foam tip and hand it to the other side easily.",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "Seize the microphone for recording sound and offer it to the other arm",
+    "Take the round head microphone, pass it, and release it to complete the task.",
+    "Take the audio microphone with soft covering and move it to another hand.",
+    "Grab the microphone with round foam head and transfer it to another hand",
+    "Lift the microphone covered with foam tip and pass it across.",
+    "Pick up the gray stem microphone with foam top and hand it to the other side.",
+    "Pick the small audio microphone from the surface and switch hands.",
+    "Take the microphone with round foam head and move it to the other hand.",
+    "Lift the microphone for recording sound, then pass it across without delay.",
+    "Grab the microphone for recording sound and give it to the opposite arm.",
+    "Pick the gray stem microphone with foam top and transfer 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 with the left arm and give it to the right arm.",
+    "Grasp the dark blue microphone, then give it to the other arm.",
+    "Hold the gray stem microphone with foam top and shift it to the other arm.",
+    "Reach for the gray stem microphone with foam top and move it to the other hand.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Grasp the microphone with dark blue padding and switch it to another hand.",
+    "Pick up the microphone covered with foam tip and transfer it to the opposite side.",
+    "Hold the microphone with round foam head 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.",
+    "Lift the small audio microphone 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",
+    "Secure the medium microphone with two-tone color using one arm and transfer it.",
+    "Use the left arm to grab the small audio microphone and transfer it to the right arm.",
+    "Pick up the microphone with round foam head and move it to the opposite side",
+    "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 smoothly give it to the other arm.",
+    "Grasp the round head microphone and shift it to the opposite hand.",
+    "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.",
+    "Grab the microphone for recording sound using the left arm and pass it over to the right arm.",
+    "Hold the round head microphone and deliver it to another side.",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.",
+    "Grip the microphone with smooth gray stem and pass it to the other side",
+    "Lift the gray stem microphone with foam top and deliver it to the other side.",
+    "Take the small audio microphone using the left arm and transfer it to the right arm.",
+    "Hold the small audio microphone securely and shift it to another arm.",
+    "Hold the microphone with dark blue padding 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 gray and dark blue microphone and pass it across.",
+    "Lift the microphone with dark blue padding 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 hand it to the other side easily.",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "Seize the gray and dark blue microphone and offer it to the other 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.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Lift the medium microphone with two-tone color and pass it across.",
+    "Pick up the audio microphone with soft covering and hand it to the other side.",
+    "Pick the microphone with dark blue padding from the surface and switch hands.",
+    "Take the round head microphone and move it to the other hand.",
+    "Lift the audio microphone with soft covering, then pass it across without delay."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 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 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 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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 microphone with cylindrical handle from the table and pass it across.",
+    "Pick up the handheld microphone and transfer it to the other hand."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode110.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with dark blue padding 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 microphone for recording sound with the right arm and give it to the left arm.",
+    "Lift the microphone with smooth gray stem and deliver it to the other side.",
+    "Grasp the microphone covered with foam tip, then give it to the other arm.",
+    "Grab the medium microphone with two-tone color and give it to the opposite arm.",
+    "Take the gray stem microphone with foam top and pass it to another hand",
+    "Pick up the microphone with round foam head, pass it to the other arm, and release.",
+    "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.",
+    "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.",
+    "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.",
+    "Use one arm to pick up the small audio microphone and give it to the other.",
+    "Hold the microphone for recording sound with one hand and transfer it",
+    "Grab the microphone covered with foam tip and smoothly give it to the other arm.",
+    "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.",
+    "Hold the dark blue microphone and deliver it to another side.",
+    "Pick up the microphone for recording sound and hand it to the other side.",
+    "Lift the gray and dark blue microphone and pass it across.",
+    "Pick up the microphone with smooth gray stem and move it to the opposite side",
+    "Grab the round head 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.",
+    "Lift the round head 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.",
+    "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 with dark blue padding 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.",
+    "Secure the medium microphone with two-tone color from the table and transfer it.",
+    "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.",
+    "Hold the microphone with dark blue padding and shift it to the other arm.",
+    "Hold the microphone covered with foam tip and pass it to the other hand.",
+    "Pick the medium microphone with two-tone color and transfer it to the other arm.",
+    "Take the gray stem microphone with foam top and move it to another hand.",
+    "Grasp the microphone for recording sound and pass it across.",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Lift the audio microphone with soft covering and hand it over to the other side.",
+    "Grasp the audio microphone with soft covering and switch it to another hand.",
+    "Seize the small audio microphone and offer it to the other arm",
+    "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.",
+    "Lift the microphone with smooth gray stem, then pass it across without delay.",
+    "Pick the round head microphone from the surface and switch hands.",
+    "Take the small audio 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 firmly and pass it to the other arm.",
+    "Hold the dark blue microphone 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.",
+    "Grasp the gray and dark blue microphone, then give it to the other arm.",
+    "Grab the microphone for recording sound and give it to the opposite arm.",
+    "Take the small audio microphone and pass it to another hand",
+    "Pick up the microphone with smooth gray stem, 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 microphone with dark blue padding and move it to the other hand.",
+    "Secure the gray stem microphone with foam top using one arm and transfer it.",
+    "Take the gray and dark blue microphone, pass it, and release it to complete the task.",
+    "Take the 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.",
+    "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 with one hand and transfer it",
+    "Grab the microphone with dark blue padding and smoothly give it to the other arm.",
+    "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 up the microphone with dark blue padding and hand it to the other side.",
+    "Lift the audio microphone with soft covering and pass it across.",
+    "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",
+    "Take the microphone with smooth gray stem 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 arm.",
+    "Use the right arm to hold the microphone with smooth gray stem, then give 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 with round foam head and pass it.",
+    "Hold the small audio microphone 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.",
+    "Secure the gray and dark blue 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.",
+    "Hold the microphone covered with foam tip and shift it to the other arm.",
+    "Hold the medium microphone with two-tone color and pass it to the other hand.",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "Take the microphone for recording sound and move it to another hand.",
+    "Grasp the medium microphone with two-tone color and pass it across.",
+    "Lift the round head microphone and hand it to someone else.",
+    "Lift the small audio microphone and hand it over to the other side.",
+    "Grasp the dark blue microphone and switch it to another hand.",
+    "Seize the microphone with smooth gray stem and offer 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 dark blue microphone, then pass it across without delay.",
+    "Pick the microphone with dark blue padding from the surface and switch hands.",
+    "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 transfer it to the opposite side.",
+    "Hold the small audio microphone firmly and pass 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 dark blue microphone and deliver it to the other side.",
+    "Grasp the microphone for recording sound, then give it to the other arm.",
+    "Grab the medium microphone with two-tone color and give it to the opposite arm.",
+    "Take the microphone with smooth gray stem and pass it to another hand",
+    "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",
+    "Reach for the dark blue microphone and move it to the other hand."
+  ],
+  "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",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 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 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.",
+    "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 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 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 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.",
+    "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",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode111.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the microphone for recording sound and give it to the opposite arm.",
+    "Grab the gray stem microphone with foam top 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.",
+    "Grasp the microphone with dark blue padding and pass it across.",
+    "Take the microphone with dark blue padding and move it to another 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.",
+    "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.",
+    "Take the gray and dark blue microphone 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 with dark blue padding and hand it to the other side.",
+    "Secure the microphone with round foam head from the table and transfer it.",
+    "Grip the small audio 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.",
+    "Grasp the small audio microphone and switch it to another hand.",
+    "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.",
+    "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.",
+    "Hold the round head microphone firmly and pass it to the other arm.",
+    "Grasp the round head microphone, 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.",
+    "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 microphone with dark blue padding, shift it, and release it to the other side.",
+    "Use one hand to grab the audio microphone with soft covering and pass it.",
+    "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.",
+    "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.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Hold the microphone for recording sound and shift it to the other arm.",
+    "Grasp the microphone for recording sound and shift it to the opposite hand.",
+    "Pick the dark blue microphone and transfer it to the other arm.",
+    "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.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Lift the small audio microphone and hand it over to the other side.",
+    "Lift the medium microphone with two-tone color, then pass it across without delay.",
+    "Hold the dark blue microphone and deliver it to another side.",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Pick up the microphone covered with foam tip and move it to the opposite side",
+    "Seize the dark blue microphone and offer it to the other arm",
+    "Lift the microphone for recording sound 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.",
+    "Pick up the gray and dark blue microphone, pass it to the other arm, and release.",
+    "Grab the microphone with dark blue padding 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.",
+    "Pick the medium microphone with two-tone color from the surface and switch hands.",
+    "Grasp the round head microphone and pass it across.",
+    "Take the microphone with dark blue padding and move it to another hand.",
+    "Take the medium microphone with two-tone color, 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 gray stem microphone with foam top with the right arm and give it to the left arm.",
+    "Secure the microphone covered with foam tip using one arm and transfer it.",
+    "Take the round head microphone and move it to the other hand.",
+    "Hold the small audio microphone securely and shift it to another arm.",
+    "Pick up the microphone for recording sound and hand it 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",
+    "Take the microphone for recording sound using the right arm and transfer it to the left arm.",
+    "Grasp the dark blue microphone and switch it to another hand.",
+    "Take the microphone covered with foam tip and pass it to another hand",
+    "Reach for the microphone covered with foam tip and move it to the other hand.",
+    "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.",
+    "Hold the audio microphone with soft covering firmly and pass it to the other arm.",
+    "Grasp the small audio microphone, 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.",
+    "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.",
+    "Take the medium microphone with two-tone color, shift it, and release it to the other side.",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.",
+    "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.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Hold the audio microphone with soft covering and shift it to the other arm.",
+    "Grasp the microphone with dark blue padding and shift it to the opposite hand.",
+    "Pick the gray stem microphone with foam top and transfer 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 transfer it to the opposite side.",
+    "Lift the gray stem microphone with foam top and hand it over to the other arm.",
+    "Lift the microphone covered with foam tip and hand it over to the other side.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Hold the microphone covered with foam tip and deliver it to another side.",
+    "Hold the microphone for recording sound and pass it to the other hand.",
+    "Pick up the small audio microphone and move it to the opposite side",
+    "Seize the microphone covered with foam tip 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.",
+    "Use one arm to pick up the round head microphone and give it to the other.",
+    "Pick up the microphone with round foam head, pass it to the other arm, and release.",
+    "Grab the round head microphone 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.",
+    "Pick the round head microphone from the surface and switch hands.",
+    "Grasp the medium microphone with two-tone color and pass it across.",
+    "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.",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "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.",
+    "Take the gray stem microphone with foam top and move it to the other hand."
+  ],
+  "unseen": [
+    "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 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 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",
+    "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 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",
+    "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.",
+    "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 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 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 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 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 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 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.",
+    "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 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 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 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",
+    "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.",
+    "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 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 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",
+    "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 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 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 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 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 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 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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode112.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the microphone covered with foam tip and give it to the opposite arm.",
+    "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.",
+    "Pick up the dark blue microphone and transfer it to the opposite side.",
+    "Grasp the microphone with round foam head and pass it across.",
+    "Take the gray stem microphone with foam top and pass it to another hand",
+    "Grasp the small audio microphone and switch it to another hand.",
+    "Take the microphone covered with foam tip and move it to another hand.",
+    "Lift the audio microphone with soft covering and hand it over to the other side.",
+    "Hold the audio microphone with soft covering securely and shift it to another arm.",
+    "Pick the medium microphone with two-tone color and transfer it to the other arm.",
+    "Lift the round head microphone and pass it across.",
+    "Use the left arm to hold the microphone for recording sound, then give it to the right arm.",
+    "Lift the audio microphone with soft covering and hand it over to the other arm.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Grip the gray and dark blue microphone and pass it to the other side",
+    "Hold the small audio microphone 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.",
+    "Use one hand to grab the microphone with smooth gray stem and pass it.",
+    "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.",
+    "Lift the gray stem microphone with foam top and deliver it to the other side.",
+    "Lift the microphone with smooth gray stem and hand it to someone else.",
+    "Grasp the small audio microphone and shift it to the opposite hand.",
+    "Pick up the dark blue microphone and move it to the opposite side",
+    "Take the audio microphone with soft covering and move it to the other hand.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Seize the gray stem microphone with foam top and offer it to the other arm",
+    "Hold the round head microphone and deliver it to another side.",
+    "Lift the microphone with smooth gray stem and hand it to the other side easily.",
+    "Secure the round head microphone using one arm and transfer it.",
+    "Take the microphone covered with foam tip, pass it, and release it to complete the task.",
+    "Hold the microphone with round foam head with one hand and transfer it",
+    "Grab the microphone with dark blue padding and smoothly give it to the other arm.",
+    "Grasp the round head microphone, then give it to the other arm.",
+    "Lift the gray stem microphone with foam top, then pass it across without delay.",
+    "Secure the microphone covered with foam tip from the table and transfer it.",
+    "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.",
+    "Grab the dark blue microphone and transfer it to another hand",
+    "Reach for the microphone with smooth gray stem 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 smooth gray stem 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.",
+    "Take the microphone with smooth gray stem, 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 dark blue padding and pass it to the other hand.",
+    "Lift the dark blue microphone using the left arm and pass it to the right arm.",
+    "Grab the microphone with smooth gray stem and give it to the opposite arm.",
+    "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.",
+    "Pick up the microphone with dark blue padding and transfer it to the opposite 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",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "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 gray and dark blue microphone securely and shift it to another arm.",
+    "Pick the small audio microphone and transfer it to the other arm.",
+    "Lift the gray and 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.",
+    "Lift the gray and dark blue microphone and hand it over to the other arm.",
+    "Pick the microphone covered with foam tip from the surface and switch hands.",
+    "Grip the dark blue microphone and pass it to the other side",
+    "Hold the microphone for recording sound 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.",
+    "Use one hand to grab the small audio microphone and pass it.",
+    "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.",
+    "Lift the small audio microphone and deliver it to the other side.",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Grasp the medium microphone with two-tone color and shift it to the opposite hand.",
+    "Pick up the round head microphone and move it to the opposite side",
+    "Take the audio microphone with soft covering and move it to the other hand.",
+    "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",
+    "Hold the round head microphone and deliver it to another side.",
+    "Lift the dark blue microphone and hand it to the other side easily.",
+    "Secure the microphone covered with foam tip using one arm and transfer it.",
+    "Take the small audio microphone, pass it, and release it to complete the task.",
+    "Hold the audio microphone with soft covering with one hand and transfer it",
+    "Grab the medium microphone with two-tone color 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.",
+    "Secure the dark blue microphone from the table and transfer it.",
+    "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",
+    "Reach for the microphone with dark blue padding and move it to the other hand.",
+    "Grab the small audio microphone using the left arm and pass it over to the right arm.",
+    "Pick up the dark blue microphone and hand it to the other side.",
+    "Hold the microphone with dark blue padding with the left arm and give it to the right arm.",
+    "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.",
+    "Hold the gray and dark blue microphone and pass it to the other hand.",
+    "Lift the microphone with round foam head using the left arm and pass it to the right arm.",
+    "Grab the gray and dark blue microphone 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.",
+    "Pick up the microphone covered with foam tip and transfer it to the opposite side.",
+    "Grasp the medium microphone with two-tone color and pass it across.",
+    "Take the microphone with smooth gray stem and pass it to another hand",
+    "Grasp the medium microphone with two-tone color and switch it to another hand.",
+    "Take the microphone for recording sound and move 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.",
+    "Pick the gray stem microphone with foam top and transfer it to the other arm."
+  ],
+  "unseen": [
+    "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.",
+    "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 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.",
+    "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 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 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",
+    "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 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 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.",
+    "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",
+    "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 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 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 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 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 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.",
+    "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 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 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 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 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 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.",
+    "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",
+    "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 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 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 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.",
+    "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 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",
+    "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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode114.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the round head microphone using one arm and transfer it.",
+    "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.",
+    "Take the audio microphone with soft covering, pass it, and release it to complete the task.",
+    "Hold the round head microphone and deliver it to another side.",
+    "Hold the audio microphone with soft covering with the left arm and give it to the right arm.",
+    "Take the small audio microphone, shift it, and release it to the other side.",
+    "Grab the gray and dark blue microphone and give it to the opposite arm.",
+    "Reach for the microphone with dark blue padding and move it to the other hand.",
+    "Lift the medium microphone with two-tone color and pass it across.",
+    "Pick the microphone with dark blue padding and transfer 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 pass it across.",
+    "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.",
+    "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.",
+    "Grasp the microphone with dark blue padding, then give it to the other arm.",
+    "Hold the microphone for recording sound and pass it to the other hand.",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "Pick up the dark blue microphone and hand it 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 small audio microphone and hand it over to the other side.",
+    "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.",
+    "Pick up the gray stem microphone with foam top and transfer it to the opposite side.",
+    "Use one arm to pick up the dark blue microphone and give it to the other.",
+    "Seize the microphone with dark blue padding and offer it to the other arm",
+    "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.",
+    "Take the small audio microphone using the left arm and transfer it to the right arm.",
+    "Take the round head microphone and move it to the other hand.",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "Take the microphone with smooth gray stem 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 stem microphone with foam top and deliver it to the other side.",
+    "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.",
+    "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 securely and shift it to another arm.",
+    "Hold the audio microphone with soft covering with one hand and transfer it",
+    "Grab the gray and dark blue microphone and transfer it to another hand",
+    "Pick the microphone with round foam head from the surface and switch hands.",
+    "Lift the round head microphone and hand it to the other side easily.",
+    "Grab the gray and dark blue microphone and smoothly give it to the other arm.",
+    "Use one hand to grab the microphone with smooth gray stem and pass it.",
+    "Pick up the small audio microphone and move it to the opposite side",
+    "Secure the gray and dark blue microphone using one arm and transfer it.",
+    "Hold the medium microphone with two-tone color firmly and pass it to the other arm.",
+    "Hold the microphone with dark blue padding and shift it to the other arm.",
+    "Take the gray and dark blue microphone, 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 dark blue padding with the left arm and give it to the right arm.",
+    "Take the round head microphone, shift it, and release it to the other side.",
+    "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.",
+    "Lift the microphone covered with foam tip and pass it across.",
+    "Pick the medium microphone with two-tone color and transfer it to the other arm.",
+    "Lift the microphone with dark blue padding, then pass it across without delay.",
+    "Grasp the microphone covered with foam tip and pass it across.",
+    "Pick up the dark blue microphone, pass it to the other arm, and release.",
+    "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.",
+    "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.",
+    "Hold the medium microphone with two-tone color and pass it to the other hand.",
+    "Lift the gray and dark blue microphone and hand it to someone else.",
+    "Pick up the microphone with smooth gray stem and hand it to the other side.",
+    "Lift the small audio microphone using the left arm and pass it to the right 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.",
+    "Pick up the audio microphone with soft covering and transfer it to the opposite side.",
+    "Use one arm to pick up the gray stem microphone with foam top and give it to the other.",
+    "Seize the round head microphone and offer it to the other arm",
+    "Use the left arm to grab the dark blue microphone and transfer it to the right arm.",
+    "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.",
+    "Take the microphone with smooth gray stem and move it to the other hand.",
+    "Grasp the microphone for recording sound and switch it to another hand.",
+    "Take the microphone with smooth gray stem and pass it to another hand",
+    "Grab the gray and dark blue microphone using the left arm and pass it over to the right arm.",
+    "Lift the microphone covered with foam tip and deliver it to the other side.",
+    "Grip the dark blue microphone and pass it to the other side",
+    "Lift the gray stem microphone with foam top 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.",
+    "Hold the microphone with smooth gray stem securely and shift it to another arm.",
+    "Hold the small audio microphone with one hand and transfer it",
+    "Grab the microphone for recording sound and transfer it to another hand",
+    "Pick the round head microphone from the surface and switch hands.",
+    "Lift the audio microphone with soft covering and hand it to the other side easily.",
+    "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.",
+    "Pick up the microphone with smooth gray stem and move it to the opposite side",
+    "Secure the small audio microphone using one arm and transfer it.",
+    "Hold the microphone covered with foam tip firmly and pass it to the other arm.",
+    "Hold the microphone with round foam head and shift it to the other arm.",
+    "Take the microphone for recording sound, pass it, and release it to complete the task.",
+    "Hold the round head microphone 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 stem microphone with foam top, shift it, and release it to the other side.",
+    "Grab the medium microphone with two-tone color and give it to the opposite arm.",
+    "Reach for the dark blue microphone and move it to the other hand.",
+    "Lift the medium microphone with two-tone color and pass it across."
+  ],
+  "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 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.",
+    "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 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",
+    "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 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 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 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 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.",
+    "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.",
+    "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",
+    "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 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 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 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 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 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 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 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.",
+    "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 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 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",
+    "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 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",
+    "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 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 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 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",
+    "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 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 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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode115.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 round foam head firmly and pass it to the other arm.",
+    "Pick up the gray and dark blue microphone and move it to the opposite side",
+    "Hold the audio microphone with soft covering securely and shift it to another arm.",
+    "Grasp the gray and dark blue microphone and switch it to another hand.",
+    "Lift the audio microphone with soft covering 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 hand to grab the round head microphone and pass it.",
+    "Grasp the microphone with round foam head and shift it to the opposite hand.",
+    "Lift the dark blue microphone and pass it across.",
+    "Pick up the small audio microphone 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.",
+    "Secure the gray stem microphone with foam top from the table and transfer it.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Take the gray stem microphone with foam top and pass it to another hand",
+    "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.",
+    "Take the microphone with smooth gray stem and move it to the other hand.",
+    "Pick up the microphone with round foam head, pass it to the other arm, and release.",
+    "Take the round head microphone, pass it, and release it to complete the task.",
+    "Lift the round head microphone and hand it over to the other side.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Hold the microphone covered with foam tip and pass 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 microphone covered with foam tip, then give it to the right arm.",
+    "Hold the audio microphone with soft covering with one hand and transfer it",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Pick up the microphone with dark blue padding and hand it to the other side.",
+    "Lift the medium microphone with two-tone color and deliver it to the other side.",
+    "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 move it to another hand.",
+    "Hold the microphone covered with foam tip and deliver it to another side.",
+    "Pick the gray and dark blue microphone from the surface and switch hands.",
+    "Secure the dark blue microphone using one arm and transfer it.",
+    "Grasp the small audio microphone, then give it to the other arm.",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "Hold the audio microphone with soft covering and shift it to the other arm.",
+    "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.",
+    "Lift the dark blue microphone 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.",
+    "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.",
+    "Seize the dark blue microphone and offer it to the other arm",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "Reach for the microphone for recording sound and move it to the other hand.",
+    "Grab the gray and dark blue microphone and smoothly give it to the other arm.",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Grab the microphone with smooth gray stem and give it to the opposite arm.",
+    "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",
+    "Hold the round head microphone securely and shift it to another arm.",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "Lift the round head 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.",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Grasp the gray and dark blue microphone and shift it to the opposite hand.",
+    "Lift the medium microphone with two-tone color and pass it across.",
+    "Pick up the dark blue microphone and transfer it to the opposite side.",
+    "Take the microphone with round foam head using the left arm and transfer it to the right 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",
+    "Take the microphone for recording sound and pass it to another hand",
+    "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 and move 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, pass it, and release it to complete the task.",
+    "Lift the round head microphone and hand it over to the other side.",
+    "Lift the microphone with round foam head and hand it over to the other arm.",
+    "Hold the small audio microphone 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.",
+    "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.",
+    "Hold the round head microphone with one hand and transfer it",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "Pick up the microphone with round foam head 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.",
+    "Take the microphone covered with foam tip and move it to another hand.",
+    "Hold the dark blue microphone and deliver it to another side.",
+    "Pick the gray and dark blue microphone from the surface and switch hands.",
+    "Secure the gray stem microphone with foam top using one arm and transfer it.",
+    "Grasp the microphone for recording sound, then give it to the other arm.",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "Hold the microphone for recording sound and shift it to the other arm.",
+    "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.",
+    "Lift the microphone covered with foam tip and hand it to the other side easily.",
+    "Take the microphone covered with foam tip, shift it, and release it to the other side.",
+    "Hold the dark blue microphone with the left arm and give it to the right arm.",
+    "Seize the microphone for recording sound and offer it to the other arm",
+    "Grip the medium microphone with two-tone color and pass it to the other side",
+    "Reach for the audio microphone with soft covering and move it to the other hand.",
+    "Grab the gray and dark blue microphone and smoothly give it to the other arm.",
+    "Grasp the microphone for recording sound and pass it across.",
+    "Grab the gray stem microphone with foam top and give it to the opposite arm.",
+    "Hold the dark blue microphone firmly and pass it to the other arm.",
+    "Pick up the gray stem microphone with foam top and move it to the opposite side",
+    "Hold the microphone covered with foam tip securely and shift it to another arm.",
+    "Grasp the gray and dark blue microphone and switch it to another hand.",
+    "Lift the gray and dark blue microphone 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 hand to grab the microphone for recording sound and pass it.",
+    "Grasp the microphone with dark blue padding and shift it to the opposite hand.",
+    "Lift the round head microphone and pass it across."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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",
+    "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 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",
+    "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.",
+    "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",
+    "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 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 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 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 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 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 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 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 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",
+    "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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode118.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the microphone covered with foam tip and transfer it to another hand",
+    "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 another hand.",
+    "Lift the medium microphone with two-tone color, then pass it across without delay.",
+    "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.",
+    "Use one arm to pick up the small audio microphone and give it to the other.",
+    "Grab the gray stem microphone with foam top and smoothly give it to the other arm.",
+    "Pick up the dark blue microphone and move it to the opposite side",
+    "Secure the medium microphone with two-tone color using one arm and transfer it.",
+    "Take the gray and dark blue microphone and pass it to another hand",
+    "Hold the dark blue microphone with the left arm and 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.",
+    "Take the dark blue microphone using the left arm and transfer it to the right arm.",
+    "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.",
+    "Secure the microphone for recording sound 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 gray and dark blue microphone and hand it over to the other arm.",
+    "Grasp the gray and 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.",
+    "Grab the microphone with dark blue padding and give it to the opposite arm.",
+    "Pick up the audio microphone with soft covering and transfer it to the opposite side.",
+    "Take the gray and dark blue microphone, shift it, and release it to the other side.",
+    "Hold the microphone with round foam head and deliver it to another side.",
+    "Lift the microphone with dark blue padding and pass it across.",
+    "Hold the round head microphone firmly and pass it to the other arm.",
+    "Hold the gray and dark blue microphone with one hand and transfer it",
+    "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.",
+    "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.",
+    "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.",
+    "Grasp the microphone with dark blue padding and switch 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 deliver it to the other side.",
+    "Grasp the microphone with round foam head and pass it across.",
+    "Pick the microphone with round foam head and transfer it to the other arm.",
+    "Lift the microphone for recording sound and hand it to someone else.",
+    "Take the round head microphone and move it to the other hand.",
+    "Lift the dark blue microphone and hand it over to the other side.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Seize the microphone with dark blue padding and offer it to the other arm",
+    "Hold the microphone for recording sound and shift it to the other arm.",
+    "Pick up the microphone for recording sound and hand it to the other side.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Grab the small audio microphone and transfer it to another hand",
+    "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 another hand.",
+    "Lift the small audio microphone, then pass it across without delay.",
+    "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.",
+    "Use one arm to pick up the microphone covered with foam tip and give it to the other.",
+    "Grab the gray and dark blue microphone and smoothly give it to the other arm.",
+    "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.",
+    "Take the round head microphone and pass it to another hand",
+    "Hold the round head 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.",
+    "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.",
+    "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.",
+    "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.",
+    "Lift the medium microphone with two-tone color and hand it over to the other arm.",
+    "Grasp the round head microphone and shift it to the opposite hand.",
+    "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.",
+    "Grab the dark blue microphone and give it to the opposite arm.",
+    "Pick up the microphone with round foam head and transfer it to the opposite side.",
+    "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 audio microphone with soft covering and pass it across.",
+    "Hold the microphone with dark blue padding firmly and pass it to the other arm.",
+    "Hold the small audio microphone with one hand and transfer it",
+    "Take the gray and dark blue microphone, pass it, and release it to complete the task.",
+    "Pick up the dark blue microphone, pass it to the other arm, and release.",
+    "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.",
+    "Grip the microphone with dark blue padding and pass it to the other side",
+    "Lift the microphone with dark blue padding and hand it to the other side easily.",
+    "Grasp the gray and dark blue microphone and switch it to another hand.",
+    "Reach for the audio microphone with soft covering and move it to the other hand.",
+    "Lift the dark blue microphone and deliver it to the other side.",
+    "Grasp the microphone covered with foam tip and pass it across.",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "Lift the gray stem microphone with foam top and hand it to someone else.",
+    "Take 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 side.",
+    "Pick the microphone with round foam head from the surface and switch hands.",
+    "Seize the audio microphone with soft covering and offer it to the other arm",
+    "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.",
+    "Use one hand to grab the audio microphone with soft covering and pass it.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Hold the microphone for recording sound securely and shift it to another arm.",
+    "Take the microphone with dark blue padding and move it to another hand.",
+    "Lift the microphone covered with foam tip, then pass it across without delay.",
+    "Use the left arm to grab the round head microphone and transfer it to the right arm.",
+    "Use one arm to pick up the microphone for recording sound and give it to the other.",
+    "Grab the round head microphone and smoothly give it to the other arm.",
+    "Pick up the microphone covered with foam tip and move it to the opposite side",
+    "Secure the microphone with dark blue padding using one arm and transfer it.",
+    "Take the microphone for recording sound and pass 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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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 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 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 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 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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 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 across."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode124.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the gray and dark blue microphone, then pass it across without delay.",
+    "Pick up the gray and dark blue microphone and hand it to the other side.",
+    "Lift the medium microphone with two-tone color and pass it across.",
+    "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.",
+    "Hold the dark blue microphone and pass it to the other hand.",
+    "Hold the microphone covered with foam tip with one hand and transfer it",
+    "Secure the gray and dark blue microphone using one arm and transfer it.",
+    "Pick up the gray stem microphone with foam top and move it to the opposite side",
+    "Lift the microphone with smooth gray stem and deliver it to the other side.",
+    "Pick up the round head microphone, pass it to the other arm, and release.",
+    "Hold the microphone with dark blue padding and shift it to the other arm.",
+    "Grip the gray and dark blue microphone and pass it to the other side",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "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.",
+    "Lift the gray and dark blue microphone and hand it over to the other side.",
+    "Take the microphone for recording sound and move it to the other hand.",
+    "Seize the round head microphone and offer it to the other arm",
+    "Take the small audio microphone and pass it to another hand",
+    "Grab the microphone with round foam head and smoothly give it to the other arm.",
+    "Grasp the dark blue microphone and switch it to another hand.",
+    "Take the small audio microphone and move it to another hand.",
+    "Take the small audio 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.",
+    "Hold the microphone covered with foam tip firmly and pass it to the other arm.",
+    "Reach for the 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.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Grasp the gray and dark blue microphone, then give it to the other arm.",
+    "Pick the small audio microphone and transfer 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 with dark blue padding 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 audio microphone with soft covering, then give it to the left arm.",
+    "Lift the gray stem microphone with foam top 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.",
+    "Pick up the microphone with smooth gray stem and transfer 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.",
+    "Use the right arm to grab the small audio microphone and transfer it to the left arm.",
+    "Use one hand to grab the microphone with smooth gray stem and pass it.",
+    "Take the microphone for recording sound, pass it, and release it to complete the task.",
+    "Secure the dark blue microphone from the table and transfer it.",
+    "Grab the microphone with round foam head and give it to the opposite arm.",
+    "Lift the gray stem microphone with foam top, then pass it across without delay.",
+    "Pick up the medium microphone with two-tone color and hand it to the other side.",
+    "Lift the microphone with round foam head and pass it across.",
+    "Pick the medium microphone with two-tone color from the surface and switch hands.",
+    "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.",
+    "Hold the microphone with dark blue padding with one hand and transfer 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",
+    "Lift the round head microphone and deliver it to the other side.",
+    "Pick up the dark blue microphone, pass it to the other arm, and release.",
+    "Hold the small audio microphone and shift it to the other arm.",
+    "Grip the gray stem microphone with foam top and pass it to the other side",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "Grab the audio microphone with soft covering and transfer it to another hand",
+    "Hold the dark blue microphone securely and shift it to another arm.",
+    "Lift the microphone for recording sound and hand it over to the other side.",
+    "Take the dark blue microphone and move it to the other hand.",
+    "Seize the dark blue microphone and offer it to the other arm",
+    "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.",
+    "Grasp the medium microphone with two-tone color and switch it to another hand.",
+    "Take the microphone with smooth gray stem and move it to another hand.",
+    "Take the microphone with dark blue padding 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.",
+    "Hold the microphone with round foam head firmly and pass it to the other arm.",
+    "Reach for the gray stem microphone with foam top and move it to the other hand.",
+    "Grab the dark blue microphone using the right arm and pass it over to the left arm.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Grasp the microphone covered with foam tip, then give it to the other arm.",
+    "Pick the medium microphone with two-tone color and transfer 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 covered with foam tip and pass it across.",
+    "Grasp the small audio microphone and shift it to the opposite hand.",
+    "Use the right arm to hold the small audio microphone, then give it to the left arm.",
+    "Lift the audio microphone with soft covering and hand it over to the other arm.",
+    "Lift the microphone covered with foam tip 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.",
+    "Hold the gray stem microphone with foam top and deliver it to another side.",
+    "Lift the gray and dark blue microphone and hand it to the other side easily.",
+    "Use the right arm to grab the small audio microphone and transfer it to the left arm.",
+    "Use one hand to grab the small audio microphone and pass it.",
+    "Take the gray stem microphone with foam top, pass it, and release it to complete the task.",
+    "Secure the small audio microphone from the table 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, then pass it across without delay.",
+    "Pick up the microphone with round foam head and hand it to the other side.",
+    "Lift the audio microphone with soft covering and pass it across.",
+    "Pick the microphone with smooth gray stem from the surface and switch hands.",
+    "Use one arm to pick up the microphone for recording sound and give it to the other.",
+    "Hold the microphone with smooth gray stem and pass it to the other hand.",
+    "Hold the audio microphone with soft covering with one hand and transfer it",
+    "Secure the medium microphone with two-tone color using one arm and transfer it.",
+    "Pick up the microphone with round foam head and move it to the opposite side",
+    "Lift the gray and dark blue microphone and deliver it to the other side."
+  ],
+  "unseen": [
+    "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 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 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 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.",
+    "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 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 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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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 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 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 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 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 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 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 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.",
+    "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 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.",
+    "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 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 handheld microphone and hand it over.",
+    "Grab the handheld microphone and pass it to the other arm."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode125.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the microphone with dark blue padding from the surface and switch hands.",
+    "Hold the gray stem microphone with foam top firmly and pass it to the other arm.",
+    "Lift the audio microphone with soft covering and hand it over to the other arm.",
+    "Pick the microphone with dark blue padding and transfer it to the other arm.",
+    "Take the gray and dark blue microphone and pass it to another hand",
+    "Take the microphone covered with foam tip, shift it, and release it to the other side.",
+    "Hold the microphone covered with foam tip securely and shift it to another arm.",
+    "Pick up the gray and dark blue microphone and hand it to the other side.",
+    "Lift the microphone for recording sound and hand it to the other side easily.",
+    "Hold the dark blue 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.",
+    "Reach for the small audio microphone and move it to the other hand.",
+    "Take the microphone covered with foam tip, pass it, and release it to complete the task.",
+    "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",
+    "Use the left arm to hold the microphone with round foam head, then give it to the right arm.",
+    "Hold the microphone covered with foam tip and pass it to the other hand.",
+    "Use the left arm to grab the small audio microphone and transfer it to the right arm.",
+    "Pick up the gray stem microphone with foam top 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 smooth gray stem and hand it over to the other side.",
+    "Grasp the medium microphone with two-tone color and switch it to another hand.",
+    "Hold the medium microphone with two-tone color with one hand and transfer it",
+    "Lift the round head microphone and pass it across.",
+    "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.",
+    "Use one hand to grab the round head microphone and pass it.",
+    "Grasp the round head microphone and pass it across.",
+    "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.",
+    "Lift the audio microphone with soft covering using the left arm and pass it to the right 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",
+    "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.",
+    "Secure the round head microphone using one arm and transfer it.",
+    "Grasp the microphone with round foam head, then give it to the other arm.",
+    "Lift the round head microphone, then pass it across without delay.",
+    "Take 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.",
+    "Grip the dark blue microphone 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 round head microphone and hand it to someone else.",
+    "Grab the audio microphone with soft covering and smoothly give it to the other arm.",
+    "Grab the microphone covered with foam tip and transfer it to another hand",
+    "Secure the gray and dark blue microphone from the table and transfer it.",
+    "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.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Pick the microphone covered with foam tip and transfer it to the other arm.",
+    "Take the audio microphone with soft covering and pass it to another hand",
+    "Take the microphone covered with foam tip, 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 small audio microphone and hand it to the other side.",
+    "Lift the microphone for recording sound and hand it to the other side easily.",
+    "Hold the audio microphone with soft covering with the left arm and give it to the right arm.",
+    "Lift the gray stem microphone with foam top and deliver it to the other side.",
+    "Reach for the microphone with smooth gray stem and move it to the other hand.",
+    "Take the microphone covered with foam tip, pass it, and release it to complete the task.",
+    "Take the medium microphone with two-tone color and move it to another hand.",
+    "Seize the dark blue microphone and offer it to the other 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 and pass it to the other hand.",
+    "Use the left arm to grab the dark blue microphone and transfer it to the right arm.",
+    "Pick up the microphone covered with foam tip and transfer it to the opposite side.",
+    "Grasp the microphone with round foam head and shift it to the opposite hand.",
+    "Lift the dark blue microphone and hand it over to the other side.",
+    "Grasp the microphone with smooth gray stem and switch it to another hand.",
+    "Hold the microphone with round foam head with one hand and transfer it",
+    "Lift the microphone with smooth gray stem and pass it across.",
+    "Hold the audio microphone with soft covering 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.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Grasp the small audio microphone and pass it across.",
+    "Hold the microphone with round foam head and deliver it to another side.",
+    "Grab the audio microphone with soft covering and give it to the opposite arm.",
+    "Lift the gray and dark blue microphone using the left arm and pass it to the right arm.",
+    "Grasp the dark blue microphone, transfer it, then let go of it smoothly.",
+    "Pick up the audio microphone with soft covering and move it to the opposite side",
+    "Take the microphone with round foam head using the left arm and transfer it to the right arm.",
+    "Secure the microphone with round foam head using one arm and transfer it.",
+    "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.",
+    "Take the gray stem microphone with foam top 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.",
+    "Grip the microphone with dark blue padding and pass it to the other side",
+    "Pick up the microphone with dark blue padding, pass it to the other arm, and release.",
+    "Lift the medium microphone with two-tone color and hand it to someone else.",
+    "Grab the microphone with dark blue padding and smoothly give it to the other arm.",
+    "Grab the microphone covered with foam tip and transfer it to another hand",
+    "Secure the dark blue microphone from the table and transfer it.",
+    "Pick the gray and dark blue microphone from the surface and switch hands.",
+    "Hold the small audio microphone firmly and pass it to the other arm.",
+    "Lift the small audio microphone and hand it over to the other arm.",
+    "Pick the microphone with round foam head and transfer it to the other arm.",
+    "Take the medium microphone with two-tone color and pass it to another hand",
+    "Take the medium microphone with two-tone color, shift it, and release it to the other 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 hand it to the other side.",
+    "Lift the microphone for recording sound and hand it to the other side easily.",
+    "Hold the microphone with round foam head with the left arm and give it to the right arm."
+  ],
+  "unseen": [
+    "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.",
+    "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",
+    "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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode126.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the handheld microphone, then give it to the other arm.",
+    "Hold the microphone with cylindrical handle and pass it to the other hand.",
+    "Grasp the metal head microphone and pass it across.",
+    "Use one hand to grab the handheld microphone and pass it.",
+    "Grasp the handheld microphone and shift it to the opposite hand.",
+    "Lift the microphone with cylindrical handle, then pass it across without delay.",
+    "Grab the metal head microphone and smoothly give it to the other arm.",
+    "Grab the microphone with black tip and white body and transfer it to another hand",
+    "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.",
+    "Take the mesh-patterned microphone head, shift it, and release it to the other side.",
+    "Lift the handheld microphone and hand it over to the other arm.",
+    "Pick up the microphone with rounded mesh head and hand it to the other side.",
+    "Grasp the mesh-patterned microphone head and switch it to another hand.",
+    "Take the microphone with rounded mesh head and move it to the other hand.",
+    "Use one arm to pick up the white microphone handle black accents and give it to the other.",
+    "Hold the black and white microphone 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.",
+    "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.",
+    "Lift the black and white microphone and hand it to the other side easily.",
+    "Grip the white microphone handle black accents and pass it to the other side",
+    "Lift the black and white microphone and hand it over to the other side.",
+    "Pick up the handheld microphone and move it to the opposite side",
+    "Take the handheld microphone and move it to another hand.",
+    "Take the mesh-patterned microphone head and pass it to another hand",
+    "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.",
+    "Lift the compact size 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 metal head microphone and transfer it to the opposite side.",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Hold the microphone with black tip and white body securely and shift it to another arm.",
+    "Secure the compact size microphone using one arm and transfer it.",
+    "Pick the metal head microphone and transfer it to the other arm.",
+    "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 and shift 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 firmly and pass it to the other arm.",
+    "Grab the compact size microphone and give it to the opposite arm.",
+    "Reach for the metal head microphone and move it to the other hand.",
+    "Take the microphone with rounded mesh head, pass it, and release it to complete the task.",
+    "Take the black and white microphone 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 mesh-patterned microphone head from the table and transfer it.",
+    "Lift the black and white microphone and pass it across.",
+    "Hold the compact size microphone with one hand and transfer it",
+    "Pick the compact size microphone from the surface and switch hands.",
+    "Grasp the metal head microphone, then give it to the other arm.",
+    "Hold the black and white microphone and pass it to the other hand.",
+    "Grasp the mesh-patterned microphone head and pass it across.",
+    "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.",
+    "Lift the black and white microphone, then pass it across without delay.",
+    "Grab the metal head microphone and smoothly give it to the other arm.",
+    "Grab the microphone with cylindrical handle 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.",
+    "Take the black and white microphone, shift it, and release it to the other side.",
+    "Lift the metal head microphone and hand it over to the other arm.",
+    "Pick up the metal head microphone and hand it to the other side.",
+    "Grasp the microphone with textured metal head and switch it to another hand.",
+    "Take the microphone with cylindrical handle and move it to the other hand.",
+    "Use one arm to pick up the white microphone handle black accents 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 using the left arm and pass it over to the right arm.",
+    "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.",
+    "Lift the microphone with rounded mesh head and hand it to the other side easily.",
+    "Grip the smooth plastic microphone handle and pass it to the other side",
+    "Lift the compact size microphone and hand it over to the other side.",
+    "Pick up the white microphone handle black accents and move it to the opposite side",
+    "Take the compact size microphone and move it to another hand.",
+    "Take the white microphone handle black accents and pass it to another hand",
+    "Lift the compact size microphone using the left arm and pass it to the right arm.",
+    "Lift the microphone with black tip and white body and hand it to someone else.",
+    "Seize the white microphone handle black accents and offer it 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.",
+    "Hold the microphone for voice recording securely and shift it to another arm.",
+    "Secure the metal head microphone using one arm and transfer it.",
+    "Pick the white microphone handle black accents and transfer 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 smooth plastic microphone handle and shift it to the other arm.",
+    "Lift the microphone with cylindrical handle and deliver it to the other side.",
+    "Hold the microphone with textured metal head firmly and pass it to the other arm.",
+    "Grab the microphone with textured metal head and give it to the opposite arm.",
+    "Reach for the handheld microphone 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.",
+    "Take the microphone with cylindrical handle using the left arm and transfer it to the right arm.",
+    "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.",
+    "Secure the microphone with rounded mesh head from the table and transfer it.",
+    "Lift the compact size microphone and pass it across.",
+    "Hold the white microphone handle black accents with one hand and transfer it",
+    "Pick the black and white microphone from the surface and switch hands.",
+    "Grasp the microphone with textured metal head, then give it to the other arm.",
+    "Hold the microphone for voice recording and pass it to the other hand.",
+    "Grasp the microphone for voice recording and pass it across.",
+    "Use one hand to grab the handheld microphone and pass it.",
+    "Grasp the microphone with textured metal head and shift it to the opposite hand.",
+    "Lift the black and white microphone, then pass it across without delay.",
+    "Grab the black and white microphone and smoothly give it to the other arm.",
+    "Grab the compact size microphone and transfer it to another hand",
+    "Use the left arm to hold the compact size microphone, then give it to the right arm.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode128.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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.",
+    "Lift the audio microphone with soft covering and hand it over to the other arm.",
+    "Pick up the small audio microphone and move it to the opposite side",
+    "Take the microphone with round foam head and pass it to another hand",
+    "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 to someone else.",
+    "Hold the microphone covered with foam tip securely and shift it to another arm.",
+    "Grab the small audio microphone using the right arm and pass it over to the left arm.",
+    "Lift the gray and dark blue microphone and pass it across.",
+    "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.",
+    "Secure the microphone with dark blue padding from the table and transfer it.",
+    "Secure the microphone covered with foam tip using one arm and transfer it.",
+    "Reach for the small audio microphone and move it to the other hand.",
+    "Take the round head microphone using the right arm and transfer it to the left arm.",
+    "Hold the medium microphone with two-tone color with one hand and transfer it",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Use one arm to pick up the dark blue microphone and give it to the other.",
+    "Seize the microphone for recording sound 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.",
+    "Grasp the microphone with round foam head and shift it to the opposite hand.",
+    "Grasp the microphone with smooth gray stem, then give it to the other arm.",
+    "Pick up the round head microphone and hand it to the other side.",
+    "Lift the round head microphone 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 with round foam head and switch it to another hand.",
+    "Take the small audio microphone and move it to another hand.",
+    "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.",
+    "Pick up the microphone with dark blue padding, pass it to the other arm, and release.",
+    "Hold the gray and dark blue microphone and shift it to the other arm.",
+    "Take the audio microphone with soft covering, pass it, and release it to complete the task.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Hold the microphone for recording sound and deliver it to another side.",
+    "Lift the microphone with round foam head and hand it over to the other side.",
+    "Take the gray and dark blue microphone, shift it, and release it to the other side.",
+    "Grip the audio microphone with soft covering and pass it to the other side",
+    "Hold the microphone with dark blue padding 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 gray and dark blue microphone and move it to the other hand.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Pick the audio microphone with soft covering and transfer it to the other arm.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Hold the microphone for recording sound and pass it to the other hand.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Pick up the microphone for recording sound and transfer it to the opposite side.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Lift the gray and dark blue microphone and hand it over to the other arm.",
+    "Pick up the microphone with smooth gray stem and move it to the opposite side",
+    "Take the dark blue 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.",
+    "Lift the microphone with dark blue padding and hand it to someone else.",
+    "Hold the 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.",
+    "Lift the small audio microphone and pass it across.",
+    "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.",
+    "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.",
+    "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 small audio microphone with one hand and transfer it",
+    "Grasp the small audio microphone and pass it across.",
+    "Use one arm to pick up the microphone for recording sound and give it to the other.",
+    "Seize the small audio microphone and offer it to the other arm",
+    "Hold the small audio microphone 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 microphone with round foam head, then give it to the other arm.",
+    "Pick up the microphone with round foam head and hand it to the other side.",
+    "Lift the gray stem microphone with foam top and deliver it to the other side.",
+    "Use the right arm to hold the microphone for recording sound, then give it to the left arm.",
+    "Grasp the microphone with dark blue padding and switch it to another hand.",
+    "Take the microphone covered with foam tip and move it to another hand.",
+    "Lift the audio microphone with soft covering and hand it to the other side easily.",
+    "Pick the microphone with round foam head from the surface and switch hands.",
+    "Pick up the microphone with dark blue padding, pass it to the other arm, and release.",
+    "Hold the microphone with dark blue padding and shift it to the other arm.",
+    "Take the microphone for recording sound, pass it, and release it to complete the task.",
+    "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.",
+    "Hold the microphone with round foam head and deliver it to another side.",
+    "Lift the round head microphone and hand it over to the other side.",
+    "Take the microphone with dark blue padding, shift it, and release it to the other side.",
+    "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.",
+    "Grab the round head microphone and smoothly give it to the other arm.",
+    "Take the small audio microphone and move it to the other hand.",
+    "Lift the small audio microphone, then pass it across without delay.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Grab the gray stem microphone with foam top and transfer it to another hand",
+    "Hold the medium microphone with two-tone color and pass it to the other hand.",
+    "Use one hand to grab the microphone with smooth gray stem and pass it.",
+    "Pick up the microphone with smooth gray stem and transfer it to the opposite side.",
+    "Grab the dark blue microphone and give it to the opposite arm.",
+    "Lift the dark blue 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 with round foam head and pass it to another hand",
+    "Lift the small audio microphone using the right arm and pass it to the left arm.",
+    "Lift the small audio microphone and hand it to someone else.",
+    "Hold the round head microphone 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.",
+    "Lift the dark blue microphone and pass it across."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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",
+    "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 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 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 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 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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and hand it over"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode129.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Seize the gray stem microphone with foam top 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.",
+    "Grasp the microphone covered with foam tip, 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.",
+    "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.",
+    "Hold the microphone for recording sound firmly and pass it to the other arm.",
+    "Hold the microphone covered with foam tip and deliver it to another side.",
+    "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 move it to the opposite side",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "Grab the small audio microphone and transfer it to another hand",
+    "Grasp the medium microphone with two-tone color, then give it to the other arm.",
+    "Lift the microphone covered with foam tip and pass it across.",
+    "Pick up the microphone with round foam head and hand it to the other side.",
+    "Lift the microphone for recording sound, then pass it across without delay.",
+    "Hold the small audio microphone with one hand and transfer it",
+    "Lift the microphone with round foam head and deliver it to the other side.",
+    "Reach for the small audio microphone and move it to the other hand.",
+    "Hold the microphone for recording sound and pass it to the other hand.",
+    "Grip the round head 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.",
+    "Grab the audio microphone with soft covering 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 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.",
+    "Lift the gray stem microphone with foam top and hand it over to the other arm.",
+    "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 to the other side easily.",
+    "Take the dark blue microphone and move it to another hand.",
+    "Take the dark blue microphone, 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.",
+    "Hold the medium microphone with two-tone color 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 over to the other side.",
+    "Grab the round head microphone using the right arm and pass it over to the left arm.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Use the right arm to grab the round head microphone 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.",
+    "Secure the audio microphone with soft covering using one arm and transfer it.",
+    "Grasp the gray stem microphone with foam top and pass it across.",
+    "Pick up the round head microphone, pass it to the other arm, and release.",
+    "Take the small audio microphone and move it to the other hand.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Seize the small audio microphone 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.",
+    "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 audio microphone with soft covering and pass it to another hand",
+    "Grab the gray stem microphone with foam top and give it to the opposite arm.",
+    "Hold the microphone with dark blue padding firmly and pass it to the other arm.",
+    "Hold the small audio microphone 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 up the microphone with round foam head and move it to the opposite side",
+    "Lift the gray stem microphone with foam top and hand it to someone else.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Grasp the microphone with round foam head, then give it to the other arm.",
+    "Lift the round head microphone and pass it across.",
+    "Pick up the microphone covered with foam tip and hand it to the other side.",
+    "Lift the microphone with round foam head, then pass it across without delay.",
+    "Hold the microphone for recording sound with one hand and transfer it",
+    "Lift the dark blue microphone and deliver it to the other side.",
+    "Reach for 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.",
+    "Grip the gray and dark blue microphone and pass it to the other side",
+    "Take the small audio microphone, 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 small audio microphone securely and shift it to another arm.",
+    "Grasp the audio microphone with soft covering and shift it to the opposite hand.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Pick up the gray and dark blue microphone and transfer it to the opposite side.",
+    "Lift the dark blue microphone and hand it to the other side easily.",
+    "Take the microphone covered with foam tip and move it to another hand.",
+    "Take the microphone with dark blue padding, 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.",
+    "Hold the audio microphone with soft covering and shift it to the other arm.",
+    "Secure the medium microphone with two-tone color from the table and transfer it.",
+    "Lift the dark blue microphone and hand it over to the other side.",
+    "Grab the round head microphone using the right arm and pass it over to the left arm.",
+    "Grasp the dark blue microphone and switch it to another hand.",
+    "Use the right arm to grab the microphone for recording sound 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.",
+    "Secure the round head microphone using one arm and transfer it.",
+    "Grasp the gray stem microphone with foam top and pass it across.",
+    "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.",
+    "Take the microphone for recording sound and move it to the other hand.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Pick the gray stem microphone with foam top from the surface and switch hands.",
+    "Seize the microphone covered with foam tip 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.",
+    "Grasp the small audio 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.",
+    "Take the dark blue microphone and pass it to another hand",
+    "Grab the microphone with round foam head and give it to the opposite arm.",
+    "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.",
+    "Take the microphone covered with foam tip using the right arm and transfer it to the left arm.",
+    "Pick up the microphone covered with foam tip and move it to the opposite 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.",
+    "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 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",
+    "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 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 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 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.",
+    "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.",
+    "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 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 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 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 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 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 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 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.",
+    "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 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 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",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 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"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode131.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone for voice recording, pass it to the other arm, and release.",
+    "Pick up the white microphone handle black accents and transfer it to the opposite side.",
+    "Lift the metal head microphone and deliver it to the other side.",
+    "Hold the smooth plastic microphone handle and deliver it to another side.",
+    "Grab the mesh-patterned microphone head and transfer it to another hand",
+    "Grasp the black and white microphone and switch it to another hand.",
+    "Take the smooth plastic microphone handle and move it to another hand.",
+    "Hold the microphone with black tip and white body securely and shift it to another arm.",
+    "Hold the microphone for voice recording and pass it to the other hand.",
+    "Grasp the microphone for voice recording, then give it to the other arm.",
+    "Take the white microphone handle black accents, pass it, and release it to complete the task.",
+    "Pick the smooth plastic microphone handle and transfer it to the other arm.",
+    "Lift the microphone for voice recording and pass it across.",
+    "Grab the microphone with rounded mesh head and give it to the opposite arm.",
+    "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.",
+    "Pick up the compact size microphone and move it to the opposite side",
+    "Lift the smooth plastic microphone handle and hand it over 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 textured metal head and pass it.",
+    "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.",
+    "Lift the mesh-patterned microphone head and hand it over to the other arm.",
+    "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.",
+    "Secure the metal head microphone from the table and transfer it.",
+    "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.",
+    "Hold the white microphone handle black accents and shift it to the other arm.",
+    "Grasp the metal head 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.",
+    "Take the metal head microphone and pass it to another hand",
+    "Lift the microphone with textured metal head, then pass it across without delay.",
+    "Take the microphone with textured metal head, shift it, and release it to the other side.",
+    "Reach for the metal head microphone and move it to the other hand.",
+    "Secure the microphone with rounded mesh head using one arm and transfer it.",
+    "Grab the microphone with black tip and white body and smoothly give it to the other arm.",
+    "Pick up the mesh-patterned microphone head and hand it 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 hand it to someone else.",
+    "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.",
+    "Lift the metal head microphone and hand it to the other side easily.",
+    "Use one arm to pick up the compact size microphone and give it to the other.",
+    "Pick the handheld microphone from the surface and switch hands.",
+    "Grasp the handheld microphone and shift it to the opposite hand.",
+    "Grasp the microphone with textured metal head and pass it across.",
+    "Seize the metal head microphone and offer it to the other arm",
+    "Grip the microphone with black tip and white body and pass it to the other side",
+    "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.",
+    "Pick up the microphone for voice recording and transfer it to the opposite side.",
+    "Lift the mesh-patterned microphone head and deliver it to the other side.",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Grab the metal head microphone and transfer it to another hand",
+    "Grasp the metal head microphone and switch it to another hand.",
+    "Take the compact size microphone and move it to another hand.",
+    "Hold the mesh-patterned microphone head securely and shift it to another arm.",
+    "Hold the microphone with rounded mesh head and pass it to the other hand.",
+    "Grasp the mesh-patterned microphone head, then give it to the other arm.",
+    "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.",
+    "Lift the microphone with black tip and white body and pass it across.",
+    "Grab the mesh-patterned microphone head and give it to the opposite arm.",
+    "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.",
+    "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 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 microphone with rounded mesh head and pass it.",
+    "Hold the microphone for voice recording with one hand and transfer it",
+    "Take the microphone with rounded mesh head and move it to the other hand.",
+    "Lift the microphone with rounded mesh head and hand it over 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.",
+    "Secure the metal head microphone 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.",
+    "Hold the compact size microphone and shift it to the other arm.",
+    "Grasp the microphone with textured metal head, 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.",
+    "Take the white microphone handle black accents and pass it to another hand",
+    "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.",
+    "Reach for the microphone for voice recording and move it to the other hand.",
+    "Secure the microphone with black tip and white body using one arm and transfer it.",
+    "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.",
+    "Hold the microphone for voice recording firmly and pass it to the other arm.",
+    "Lift the mesh-patterned microphone head and hand it to someone else.",
+    "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.",
+    "Lift the microphone for voice recording 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.",
+    "Pick the microphone with rounded mesh head from the surface and switch hands.",
+    "Grasp the metal head microphone and shift it to the opposite hand.",
+    "Grasp the microphone with cylindrical handle and pass it across.",
+    "Seize the compact size microphone and offer it to the other arm",
+    "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.",
+    "Pick up the microphone with textured metal head and transfer it to the opposite side.",
+    "Lift the compact size microphone and deliver it to the other side.",
+    "Hold the microphone with textured metal head and deliver it to another side.",
+    "Grab the microphone with black tip and white body and transfer it to another hand",
+    "Grasp the microphone for voice recording and switch it to another hand.",
+    "Take the black and white microphone and move it to another hand.",
+    "Hold the mesh-patterned microphone head securely and shift it to another arm.",
+    "Hold the handheld microphone and pass it to the other hand.",
+    "Grasp the mesh-patterned microphone head, then give it to the other 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.",
+    "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 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.",
+    "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",
+    "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.",
+    "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",
+    "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.",
+    "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",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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",
+    "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.",
+    "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 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 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 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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",
+    "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 and pass it to the other arm.",
+    "Take hold of the black and white plastic microphone and hand it over."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode133.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the gray stem microphone with foam top and switch it to another hand.",
+    "Hold the microphone with smooth gray stem and pass it to the other hand.",
+    "Hold the microphone with round foam head and shift it to the other arm.",
+    "Pick the small audio microphone and transfer it to the other arm.",
+    "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.",
+    "Grasp the small audio microphone and shift it to the opposite hand.",
+    "Lift the microphone covered with foam tip, then pass it across without delay.",
+    "Grab the microphone with dark blue padding and smoothly give it to the other arm.",
+    "Take the microphone with smooth gray stem and move it to the other hand.",
+    "Use the left arm to grab the small audio microphone and transfer it to the right arm.",
+    "Take the microphone for recording sound and move it to another hand.",
+    "Secure the gray stem microphone with foam top from the table and transfer it.",
+    "Lift the audio microphone with soft covering and hand it to the other side easily.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Grasp the gray and dark blue microphone and pass it across.",
+    "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 to someone else.",
+    "Pick the gray stem microphone with foam top from the surface and switch hands.",
+    "Hold the dark blue microphone securely and shift it to another arm.",
+    "Hold the audio microphone with soft covering with the left arm and give it to the right arm.",
+    "Secure the audio microphone with soft covering using one arm and transfer it.",
+    "Grab the microphone with dark blue padding and give it to the opposite arm.",
+    "Grip the dark blue microphone and pass it 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 using the left arm and pass it over to the right 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 arm.",
+    "Hold the microphone for recording sound with one hand and transfer it",
+    "Use the left arm to hold the dark blue microphone, then give 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 round head microphone firmly and pass it to the other arm.",
+    "Lift the audio microphone with soft covering and pass it across.",
+    "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.",
+    "Take the microphone for recording sound and pass it to another hand",
+    "Pick up the audio microphone with soft covering and hand it to the other side.",
+    "Use one hand to grab the small audio microphone and pass it.",
+    "Pick up the gray stem microphone with foam top and move it to the opposite side",
+    "Pick up the medium microphone with two-tone color, 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 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 covered with foam tip and transfer it to another hand",
+    "Take the round head 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.",
+    "Grasp the microphone for recording sound and switch it to another hand.",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Hold the microphone covered with foam tip and shift it to the other arm.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Take the microphone covered with foam tip 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 round head microphone, then pass it across without delay.",
+    "Grab the microphone with smooth gray stem and smoothly give it to the other arm.",
+    "Take the gray stem microphone with foam top and move it to the other hand.",
+    "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.",
+    "Take the microphone for recording sound and move it to another hand.",
+    "Secure the microphone for recording sound from the table and transfer it.",
+    "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 small audio microphone and pass it across.",
+    "Take the small audio microphone, pass it, and release it to complete the task.",
+    "Lift the microphone with smooth gray stem and hand it to someone else.",
+    "Pick the microphone for recording sound from the surface and switch hands.",
+    "Hold the dark blue microphone securely and shift it to another arm.",
+    "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.",
+    "Secure the medium microphone with two-tone color using one arm and transfer it.",
+    "Grab the medium microphone with two-tone color and give it to the opposite arm.",
+    "Grip the small audio microphone and pass it to the other side",
+    "Grasp the small audio microphone, then give it to the other arm.",
+    "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.",
+    "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.",
+    "Hold the small audio microphone with one hand and transfer it",
+    "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 using the left arm and pass it to the right arm.",
+    "Hold the round head microphone firmly and pass it to the other arm.",
+    "Lift 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.",
+    "Hold the microphone with smooth gray stem and deliver it to another side.",
+    "Take the dark blue microphone and pass it to another hand",
+    "Pick up the dark blue microphone and hand it to the other side.",
+    "Use one hand to grab the microphone for recording sound and pass it.",
+    "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.",
+    "Use one arm to pick up the microphone with dark blue padding and give it to the other.",
+    "Lift the microphone with round foam head and hand it over to the other side.",
+    "Pick up the microphone with round foam head and transfer it to the opposite side.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Take the microphone with smooth gray stem, 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.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Hold the gray and dark blue microphone and pass it to the other hand.",
+    "Hold the dark blue microphone and shift it to the other arm.",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "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 microphone with round foam head, then pass it across without delay.",
+    "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.",
+    "Use the left arm to grab the dark blue microphone and transfer it to the right arm."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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 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 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.",
+    "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",
+    "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.",
+    "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",
+    "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.",
+    "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.",
+    "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.",
+    "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",
+    "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 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",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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 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.",
+    "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 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 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 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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode134.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the microphone with smooth gray stem, pass it, and release it to complete the task.",
+    "Lift the microphone covered with foam tip 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.",
+    "Reach for the microphone with dark blue padding and move it to the other hand.",
+    "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.",
+    "Hold the small audio microphone firmly and pass it to the other arm.",
+    "Take the round head microphone using the left arm and transfer it to the right arm.",
+    "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.",
+    "Lift the small audio microphone and pass it across.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Hold the microphone with smooth gray stem with one hand and transfer it",
+    "Hold the microphone with round foam head and shift it to the other arm.",
+    "Hold the microphone with smooth gray stem and pass it to the other hand.",
+    "Grasp the medium microphone with two-tone color and pass it across.",
+    "Use the left arm to hold the microphone for recording sound, then give it to the right arm.",
+    "Pick up the gray stem microphone with foam top and hand it to the other side.",
+    "Lift the gray stem microphone with foam top and hand it over to the other side.",
+    "Grab the microphone with smooth gray stem 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.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Secure the microphone covered with foam tip from the table and transfer it.",
+    "Grab the medium microphone with two-tone color and give it to the opposite arm.",
+    "Grasp the microphone for recording sound and shift it to the opposite hand.",
+    "Pick up the microphone with dark blue padding and move it to the opposite side",
+    "Lift the small audio microphone, then pass it across without delay.",
+    "Pick up the small audio microphone and transfer it to the opposite side.",
+    "Pick the microphone with dark blue padding and transfer it to the other arm.",
+    "Take the medium microphone with two-tone color and pass it to another hand",
+    "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.",
+    "Lift the medium microphone with two-tone color and hand it over to the other arm.",
+    "Grasp the microphone for recording sound, then give it to the other arm.",
+    "Hold the microphone with dark blue padding and deliver it to another side.",
+    "Secure the microphone with dark blue padding using one arm and transfer it.",
+    "Take the round head microphone and move it to the other hand.",
+    "Hold the round head microphone with the left arm and give it to the right arm.",
+    "Pick up the gray and dark blue microphone, pass it to the other arm, and release.",
+    "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.",
+    "Take the small audio microphone, shift it, and release it to the other side.",
+    "Grab the microphone with smooth gray stem 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 microphone with dark blue padding and move it to another hand.",
+    "Take the round head microphone, pass it, and release it to complete the task.",
+    "Lift the microphone covered with foam tip and hand it to the other side easily.",
+    "Use one arm to pick up the microphone for recording sound and give it to the other.",
+    "Reach for the microphone with dark blue padding and move it to the other hand.",
+    "Grip the gray stem microphone with foam top and pass it to the other side",
+    "Grasp the audio microphone with soft covering and switch it to another hand.",
+    "Hold the microphone for recording sound 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.",
+    "Seize the microphone with round foam head and offer it to the other arm",
+    "Use one hand to grab the dark blue microphone and pass it.",
+    "Lift the microphone with dark blue padding and pass it across.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "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.",
+    "Hold the microphone covered with foam tip and pass it to the other hand.",
+    "Grasp the audio microphone with soft covering and pass it across.",
+    "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.",
+    "Pick up the gray stem microphone with foam top and hand it to the other side.",
+    "Lift the dark blue microphone and hand it over to the other side.",
+    "Grab the small audio microphone and smoothly give it to the other arm.",
+    "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.",
+    "Pick the microphone with dark blue padding from the surface and switch hands.",
+    "Secure the microphone with dark blue padding from the table and transfer it.",
+    "Grab the small audio microphone and give it to the opposite 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",
+    "Lift the round head microphone, then pass it across without delay.",
+    "Pick up the dark blue microphone and transfer it to the opposite side.",
+    "Pick the microphone with round foam head and transfer it to the other arm.",
+    "Take the gray and dark blue microphone and pass it to another hand",
+    "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.",
+    "Lift the small audio microphone and deliver it to the other side.",
+    "Lift the gray stem microphone with foam top and hand it over to the other arm.",
+    "Grasp the audio microphone with soft covering, then give it to the other arm.",
+    "Hold the microphone with smooth gray stem and deliver it to another side.",
+    "Secure the dark blue microphone using one arm and transfer it.",
+    "Take the medium microphone with two-tone color 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.",
+    "Pick up the gray and dark blue microphone, pass it to the other arm, and release.",
+    "Lift the microphone for recording sound and hand it to someone else.",
+    "Hold the microphone for recording sound securely and shift it to another arm.",
+    "Take the small audio microphone, shift it, and release 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.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "Take the dark blue microphone, pass it, and release it to complete the task.",
+    "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.",
+    "Reach for the audio microphone with soft covering and move it to the other hand.",
+    "Grip the medium microphone with two-tone color and pass it to the other side",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "Hold the small audio microphone firmly and pass it to the other arm.",
+    "Take the microphone for recording sound using the left arm and transfer it to the right arm.",
+    "Seize the gray and dark blue microphone and offer it to the other arm",
+    "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 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.",
+    "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 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 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 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 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 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 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 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 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 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 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.",
+    "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 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.",
+    "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 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 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 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 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 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 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 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 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.",
+    "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 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.",
+    "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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode135.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.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Lift the microphone with smooth gray stem 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 microphone with dark blue padding and deliver it to the other side.",
+    "Lift the gray and dark blue microphone, then pass it across without delay.",
+    "Pick up the gray and 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.",
+    "Take the medium microphone with two-tone color and move it to the other hand.",
+    "Hold the dark blue microphone 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.",
+    "Hold the microphone covered with foam tip with one hand and transfer it",
+    "Grab the round head microphone and smoothly give it to the other arm.",
+    "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.",
+    "Pick up the microphone with dark blue padding and transfer it to the opposite side.",
+    "Seize the round head microphone and offer it to the other arm",
+    "Grasp the medium microphone with two-tone color and pass it across.",
+    "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.",
+    "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.",
+    "Grasp the microphone for recording sound and shift it to the opposite hand.",
+    "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.",
+    "Grip the dark blue microphone and pass it to the other side",
+    "Lift the microphone for recording sound and hand it over to the other side.",
+    "Grab the small audio microphone and transfer it to another hand",
+    "Hold the medium microphone with two-tone color firmly and pass it to the other 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 using the right arm and transfer it to the left arm.",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "Take the audio microphone with soft covering, pass it, and release it to complete the task.",
+    "Reach for the microphone covered with foam tip and move it to the other hand.",
+    "Hold the microphone covered with foam tip and shift it to the other arm.",
+    "Grab the gray stem microphone with foam top and give it to the opposite arm.",
+    "Hold the small audio microphone and pass it to the other hand.",
+    "Take the gray stem microphone with foam top and pass it to another hand",
+    "Secure the small audio microphone using one arm and transfer it.",
+    "Lift the microphone covered with foam tip and hand it to someone else.",
+    "Pick up the audio microphone with soft covering and move it to the opposite side",
+    "Secure the microphone covered with foam tip from the table and transfer it.",
+    "Use one arm to pick up the microphone with smooth gray stem and give it to the other.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "Use the right arm to hold the microphone for recording sound, then give it to the left arm.",
+    "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.",
+    "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.",
+    "Hold the round head microphone and deliver it to another side.",
+    "Lift the round head microphone and deliver it to the other side.",
+    "Lift the dark blue microphone, then pass it across without delay.",
+    "Pick up the microphone for recording sound, pass it to the other arm, and release.",
+    "Lift the dark blue microphone and hand it over to the other arm.",
+    "Take the medium microphone with two-tone color 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.",
+    "Grasp the medium microphone with two-tone color, then give it to the other arm.",
+    "Hold the medium microphone with two-tone color with one hand and transfer it",
+    "Grab the gray stem microphone with foam top and smoothly give it to the other arm.",
+    "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.",
+    "Pick up the microphone with dark blue padding and transfer it to the opposite side.",
+    "Seize the microphone covered with foam tip and offer it to the other arm",
+    "Grasp the gray and dark blue microphone and pass it across.",
+    "Grab the dark blue 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 microphone for recording sound and hand it to the other side easily.",
+    "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.",
+    "Take the microphone with dark blue padding, shift it, and release it to the other side.",
+    "Grip the audio microphone with soft covering and pass it to the other side",
+    "Lift the microphone with dark blue padding and hand it over to the other side.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Hold the round head microphone firmly and pass it to the other arm.",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "Pick up the gray and dark blue microphone 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.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Take the microphone with dark blue padding, 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 microphone with dark blue padding and shift it to the other arm.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Hold the small audio microphone and pass it to the other hand.",
+    "Take the small audio microphone and pass it to another hand",
+    "Secure the gray and dark blue microphone using one arm and transfer it.",
+    "Lift the microphone covered with foam tip and hand it to someone else.",
+    "Pick up the microphone covered with foam tip and move it to the opposite side",
+    "Secure the audio microphone with soft covering from the table and transfer it.",
+    "Use one arm to pick up the dark blue microphone and give it to the other.",
+    "Take the dark blue microphone and move it to another hand.",
+    "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 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.",
+    "Use one hand to grab the microphone with round foam head and pass it.",
+    "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 with smooth gray stem and deliver it to the other side.",
+    "Lift the microphone with round foam head, then pass it across without delay.",
+    "Pick up the medium microphone with two-tone color, 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.",
+    "Hold the dark blue microphone with the right arm and give it to the left arm."
+  ],
+  "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 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 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 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 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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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",
+    "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.",
+    "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",
+    "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.",
+    "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",
+    "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.",
+    "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",
+    "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 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",
+    "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.",
+    "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",
+    "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 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.",
+    "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 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 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 compact microphone with two parts and hand it over.",
+    "Grab the compact microphone with two parts from the table and pass it across."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode136.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the microphone covered with foam tip and pass it to the other hand.",
+    "Hold the dark blue microphone securely and shift it to another arm.",
+    "Grab the microphone covered with foam tip and smoothly give it to the other arm.",
+    "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 arm to pick up the small audio microphone and give it to the other.",
+    "Hold the microphone with dark blue padding with the right arm and give it to the left arm.",
+    "Grasp the microphone for recording sound, 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 round head microphone and deliver it to another side.",
+    "Seize the medium microphone with two-tone color and offer it to the other arm",
+    "Take the microphone with dark blue padding and pass it to another hand",
+    "Lift the gray stem microphone with foam top and hand it over to the other arm.",
+    "Reach for the microphone for recording sound and move it to the other hand.",
+    "Lift the small audio microphone and deliver it to the other side.",
+    "Grasp the dark blue microphone, transfer it, then let go of it smoothly.",
+    "Hold the microphone with round foam head and shift it to the other arm.",
+    "Lift the medium microphone with two-tone color, then pass it across without delay.",
+    "Hold the audio microphone with soft covering firmly and pass 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 gray and dark blue microphone and pass it.",
+    "Pick up the round head microphone and hand it to the other side.",
+    "Pick the microphone with round foam head and transfer it to the other arm.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Take the gray and dark blue microphone and move 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 dark blue padding from the table and transfer it.",
+    "Lift the microphone for recording sound and pass it across.",
+    "Pick the gray and dark blue microphone from the surface and switch hands.",
+    "Grasp the medium microphone with two-tone color and shift it to the opposite hand.",
+    "Secure the gray stem microphone with foam top using one arm and transfer it.",
+    "Pick up the microphone with dark blue padding 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.",
+    "Take the gray stem microphone with foam top, 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.",
+    "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.",
+    "Take the gray and dark blue microphone, 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 using the right arm and pass it to the left arm.",
+    "Grasp the audio microphone with soft covering and pass it across.",
+    "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 the other side easily.",
+    "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.",
+    "Hold the microphone with smooth gray stem and pass it to the other hand.",
+    "Hold the microphone with dark blue padding securely and shift it to another arm.",
+    "Grab the small audio microphone and smoothly give it to the other arm.",
+    "Take the microphone with dark blue padding and move it to the other hand.",
+    "Grab the microphone with round foam head and transfer it to another hand",
+    "Use one arm to pick up the microphone covered with foam tip and give it to the other.",
+    "Hold the round head microphone with the right arm and give it to the left arm.",
+    "Grasp the microphone with dark blue padding, then 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 and deliver it to another side.",
+    "Seize the gray stem microphone with foam top and offer it to the other arm",
+    "Take the microphone with round foam head and pass it to another hand",
+    "Lift the microphone with dark blue padding 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 microphone for recording sound and deliver it to the other side.",
+    "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.",
+    "Hold the gray stem microphone with foam top and shift it to the other arm.",
+    "Lift the microphone with round foam head, then pass it across without delay.",
+    "Hold the gray stem microphone with foam top firmly and pass 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 for recording sound and pass it.",
+    "Pick up the dark blue microphone and hand it to the other side.",
+    "Pick the audio microphone with soft covering and transfer it to the other arm.",
+    "Grab the dark blue microphone and give it to the opposite arm.",
+    "Take the microphone for recording sound 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.",
+    "Secure the microphone with round foam head from the table and transfer it.",
+    "Lift the microphone with smooth gray stem and pass it across.",
+    "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.",
+    "Secure the microphone with round foam head using one arm and transfer it.",
+    "Pick up the microphone covered with foam tip and transfer it to the opposite side.",
+    "Take the microphone with smooth gray stem 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.",
+    "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 for recording sound, then give it to the left arm.",
+    "Grasp the microphone with dark blue padding and switch it to another hand.",
+    "Take the gray stem microphone with foam top, pass it, and release it to complete the task.",
+    "Hold the microphone with smooth gray stem with one hand and transfer it",
+    "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.",
+    "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.",
+    "Lift the gray and 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",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "Hold the microphone with dark blue padding and pass it to the other hand.",
+    "Hold the small audio microphone securely and shift it to another arm.",
+    "Grab the microphone covered with foam tip and smoothly give 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 one arm to pick up the dark blue microphone and give it to the other.",
+    "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, then give it to the other arm.",
+    "Pick up the dark blue microphone, pass it to the other arm, and release.",
+    "Hold the gray stem microphone with foam top and deliver it to another side."
+  ],
+  "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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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.",
+    "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",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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",
+    "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 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 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 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.",
+    "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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode137.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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.",
+    "Use the right arm to hold the small audio microphone, then give it to the left arm.",
+    "Pick up the gray stem microphone with foam top 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.",
+    "Pick the microphone with dark blue padding 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 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.",
+    "Use one hand to grab the microphone for recording sound and pass it.",
+    "Hold the microphone with dark blue padding securely and shift it to another arm.",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "Lift the small audio microphone and deliver it to the other side.",
+    "Lift the microphone with round foam head 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 gray and dark blue microphone and hand it over to the other side.",
+    "Grasp the audio microphone with soft covering, then give it to the other arm.",
+    "Grasp the audio microphone with soft covering and switch it to another hand.",
+    "Lift the microphone with smooth gray stem 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 small audio microphone and shift it to the opposite hand.",
+    "Pick the audio microphone with soft covering from the surface and switch hands.",
+    "Hold the small audio 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.",
+    "Grab the gray stem microphone with foam top and smoothly give it to the other arm.",
+    "Secure the microphone covered with foam tip from the table and transfer it.",
+    "Lift the dark blue microphone and hand it to the other side easily.",
+    "Lift the microphone with dark blue padding and hand it over to the other arm.",
+    "Grasp the round head microphone and pass it across.",
+    "Hold the microphone for recording sound and pass it to the other hand.",
+    "Grasp the gray and 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.",
+    "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",
+    "Grab the dark blue microphone and give it to the opposite arm.",
+    "Hold the small audio microphone and deliver it to another side.",
+    "Take the microphone with dark blue padding 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.",
+    "Hold the dark blue microphone and shift it to the other arm.",
+    "Seize the gray and dark blue microphone and offer it to the other arm",
+    "Take the microphone with dark blue padding and move it to the other hand.",
+    "Take the dark blue microphone and pass it to another hand",
+    "Reach for the microphone with round foam head and move it to the other hand.",
+    "Take the microphone for recording sound and move it to another hand.",
+    "Secure the microphone with round foam head using one arm and transfer it.",
+    "Pick up the gray and dark blue microphone and move it to the opposite side",
+    "Take the microphone for recording sound, pass it, and release it to complete the task.",
+    "Use the right arm to hold the dark blue microphone, then give it to the left arm.",
+    "Pick up the medium microphone with two-tone color 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.",
+    "Pick the gray and dark blue microphone and transfer it to the other arm.",
+    "Pick up the small audio microphone and transfer it to the opposite side.",
+    "Lift the microphone for recording sound and pass it across.",
+    "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.",
+    "Use one hand to grab the microphone with round foam head and pass it.",
+    "Hold the microphone with round foam head securely and shift it to another arm.",
+    "Grip the gray stem microphone with foam top and pass it to the other side",
+    "Lift the microphone with round foam head and deliver it to the other side.",
+    "Lift the dark blue 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 microphone with round foam head and hand it over to the other side.",
+    "Grasp the microphone with smooth gray stem, then give it to the other arm.",
+    "Grasp the microphone with dark blue padding and switch 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.",
+    "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.",
+    "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, pass it to the other arm, and release.",
+    "Grab the gray and dark blue microphone and smoothly give it to the other arm.",
+    "Secure the small audio microphone 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 arm.",
+    "Grasp the dark blue microphone and pass it across.",
+    "Hold the dark blue microphone and pass it to the other hand.",
+    "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.",
+    "Lift the microphone for recording sound, then pass it across without delay.",
+    "Grab the gray stem microphone with foam top and transfer it to another hand",
+    "Hold the dark blue microphone with one hand and transfer it",
+    "Grab the microphone for recording sound and give it to the opposite arm.",
+    "Hold the medium microphone with two-tone color and deliver it to another side.",
+    "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, shift it, and release it to the other side.",
+    "Hold the microphone with dark blue padding and shift it to the other arm.",
+    "Seize the microphone with dark blue padding and offer it to the other arm",
+    "Take the gray and dark blue microphone and move it to the other hand.",
+    "Take the microphone for recording sound and pass it to another hand",
+    "Reach for the dark blue microphone and move it to the other hand.",
+    "Take the gray stem microphone with foam top and move it to another hand.",
+    "Secure the audio microphone with soft covering using one arm and transfer it.",
+    "Pick up the microphone for recording sound and move it to the opposite side",
+    "Take the microphone with round foam head, pass it, and release it to complete the task.",
+    "Use the right arm to hold the microphone for recording sound, then give it to the left arm.",
+    "Pick up the small audio microphone and hand it to the other side.",
+    "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.",
+    "Pick the microphone for recording sound 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 pass it across.",
+    "Grab the microphone with round foam head using the right arm and pass it over to the left arm.",
+    "Use one hand to grab the medium microphone with two-tone color and pass it."
+  ],
+  "unseen": [
+    "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 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 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 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 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 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 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 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 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 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 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",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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 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",
+    "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 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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode138.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with textured metal head and deliver it to the other side.",
+    "Grasp the microphone with cylindrical handle, then give it to the other arm.",
+    "Hold the microphone with black tip and white body securely and shift it to another arm.",
+    "Grasp the handheld microphone and pass it across.",
+    "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 black and white 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 side.",
+    "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.",
+    "Lift the metal head microphone and hand it to the other side easily.",
+    "Hold the microphone with rounded mesh head and pass it to the other hand.",
+    "Take the microphone with cylindrical handle and pass it to another hand",
+    "Use the left arm to hold the compact size microphone, then give it to the right arm.",
+    "Pick up the smooth plastic microphone handle and move it to the opposite side",
+    "Use one hand to grab the microphone with rounded mesh head and pass it.",
+    "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.",
+    "Hold the microphone for voice recording and shift it to the other arm.",
+    "Hold the compact size microphone and deliver it to another side.",
+    "Use one arm to pick up the black and white microphone and give it to the other.",
+    "Pick up the handheld microphone and hand 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 another hand.",
+    "Lift the mesh-patterned microphone head and pass it across.",
+    "Grip the metal head microphone and pass it to the other side",
+    "Take the metal head 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.",
+    "Grasp the microphone for voice recording and switch it to another hand.",
+    "Grab the microphone for voice recording 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 white microphone handle black accents from the table and transfer it.",
+    "Hold the handheld microphone firmly and pass it to the other arm.",
+    "Lift the microphone with textured metal head and hand it over to the other arm.",
+    "Take the microphone with cylindrical handle, shift it, and release it to the other side.",
+    "Grasp the smooth plastic microphone handle and shift it to the opposite hand.",
+    "Pick up the microphone with rounded mesh head and transfer it to the opposite side.",
+    "Grab the microphone with rounded mesh head 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.",
+    "Pick the mesh-patterned microphone head from the surface and switch hands.",
+    "Secure the microphone for voice recording 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.",
+    "Lift the compact size microphone, then pass it across without delay.",
+    "Take the microphone with cylindrical handle, pass it, and release it to complete the task.",
+    "Lift the microphone with cylindrical handle and hand it to someone else.",
+    "Pick the smooth plastic microphone handle and transfer it to the other arm.",
+    "Seize the smooth plastic microphone handle and offer it to the other arm",
+    "Lift the microphone for voice recording and deliver it to the other side.",
+    "Grasp the compact size microphone, then give it to the other arm.",
+    "Hold the black and white microphone securely and shift it to another arm.",
+    "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.",
+    "Grab the handheld microphone and transfer it to another hand",
+    "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.",
+    "Lift the handheld microphone and hand it over to the other side.",
+    "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.",
+    "Lift the handheld microphone and hand it to the other side easily.",
+    "Hold the microphone for voice recording and pass it to the other hand.",
+    "Take the microphone with rounded mesh head 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.",
+    "Pick up the handheld microphone and move it to the opposite side",
+    "Use one hand to grab the mesh-patterned microphone head and pass it.",
+    "Take the microphone with textured metal head using the left arm and transfer it to the right arm.",
+    "Hold the metal head microphone 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 microphone with rounded mesh head and give it to the other.",
+    "Pick up the black and white microphone and hand it to the other side.",
+    "Hold the metal head microphone with one hand and transfer it",
+    "Take the smooth plastic microphone handle and move it to another hand.",
+    "Lift the microphone with rounded mesh head and pass it across.",
+    "Grip the compact size microphone and pass it to the other side",
+    "Take the black and white microphone and move it to the other hand.",
+    "Hold the black and white microphone with the left arm and give it to the right arm.",
+    "Grasp the metal head microphone and switch it to another hand.",
+    "Grab the white microphone handle black accents 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 for voice recording from the table and transfer it.",
+    "Hold the black and white microphone firmly and pass it to the other arm.",
+    "Lift the white microphone handle black accents and hand it over to the other arm.",
+    "Take the handheld microphone, 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 compact size microphone and transfer it to the opposite side.",
+    "Grab the handheld microphone and smoothly give it to the other arm.",
+    "Pick up the compact size microphone, pass it to the other arm, and release.",
+    "Pick the mesh-patterned microphone head from the surface and switch hands.",
+    "Secure the black and white microphone using one arm and transfer it.",
+    "Grab the compact size microphone using the left arm and pass it over to the right arm.",
+    "Lift the microphone with textured metal head, then pass it across without delay.",
+    "Take the handheld microphone, pass it, and release it to complete the task.",
+    "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.",
+    "Seize the microphone with black tip and white body and offer it to the other arm",
+    "Lift the microphone with cylindrical handle and deliver it to the other side.",
+    "Grasp the microphone with black tip and white body, then give it to the other arm.",
+    "Hold the microphone for voice recording securely and shift it to another arm.",
+    "Grasp the smooth plastic microphone handle and pass it across.",
+    "Reach for the compact size microphone and move it to the other hand.",
+    "Grab the microphone for voice recording and transfer it to another hand",
+    "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.",
+    "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 and hand it to the other side easily."
+  ],
+  "unseen": [
+    "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 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 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",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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 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 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 lightweight handheld microphone and transfer it to the other hand.",
+    "Pick up the lightweight handheld microphone and hand it over"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode139.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with smooth gray stem and hand it over to the other side.",
+    "Grasp the gray and dark blue microphone and switch it to another hand.",
+    "Use the right arm to grab the microphone for recording sound 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.",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Lift the microphone with smooth gray stem and hand it to the other side easily.",
+    "Hold the small audio microphone 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 microphone for recording sound, transfer it, then let go of it smoothly.",
+    "Grasp the gray stem microphone with foam top, then give it to the other arm.",
+    "Pick the microphone with round foam head and transfer it to the other arm.",
+    "Grab the gray stem microphone with foam top and smoothly give it to the other arm.",
+    "Grip the gray stem microphone with foam top and pass it to the other side",
+    "Grasp the microphone with round foam head and pass it across.",
+    "Secure the round head microphone using one arm and transfer it.",
+    "Hold the dark blue microphone and shift it to the other arm.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Hold the microphone with dark blue padding and deliver it to another side.",
+    "Take the gray and dark blue microphone, 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.",
+    "Pick up the microphone with dark blue padding, pass it to the other arm, and release.",
+    "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 the other hand.",
+    "Take the audio microphone with soft covering, 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.",
+    "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 covered with foam tip 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.",
+    "Secure the microphone covered with foam tip from the table and transfer it.",
+    "Pick the gray stem microphone with foam top from the surface and switch hands.",
+    "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.",
+    "Hold the microphone with smooth gray stem firmly and pass it to the other arm.",
+    "Lift the small audio microphone and pass it across.",
+    "Pick up the gray stem microphone with foam top and move it to the opposite side",
+    "Grasp the round head microphone and shift it to the opposite hand.",
+    "Pick up the microphone with round foam head and hand it to the other side.",
+    "Reach for the audio microphone with soft covering and move it to the other hand.",
+    "Lift the microphone for recording sound and hand it to someone else.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Pick up the microphone with round foam head and transfer it to the opposite side.",
+    "Take the microphone for recording sound and pass it to another hand",
+    "Take the gray stem microphone with foam top and move it to another hand.",
+    "Hold the gray stem microphone with foam top with one hand and transfer it",
+    "Lift the small audio microphone and hand it over to the other side.",
+    "Grasp the audio microphone with soft covering and switch it to another hand.",
+    "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 for recording sound and give it to the other.",
+    "Use one hand to grab the small audio microphone and pass it.",
+    "Lift the microphone for recording sound and hand it to the other side easily.",
+    "Hold the gray and dark blue microphone securely and shift it to another arm.",
+    "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, transfer it, then let go of it smoothly.",
+    "Grasp the microphone with round foam head, then give it to the other arm.",
+    "Pick the dark blue microphone and transfer it to the other arm.",
+    "Grab the 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 and pass it across.",
+    "Secure the microphone with round foam head using one arm and transfer it.",
+    "Hold the microphone covered with foam tip and shift it to the other arm.",
+    "Grab the medium microphone with two-tone color and transfer it to another 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.",
+    "Grab the gray stem microphone with foam top using the right arm and pass it over 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.",
+    "Take the microphone with dark blue padding and move it to the other hand.",
+    "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.",
+    "Hold the microphone with dark blue padding and pass it to the other hand.",
+    "Grab the microphone with round foam head and give it to the opposite arm.",
+    "Seize the medium microphone with two-tone color and offer it to the other arm",
+    "Take the gray and dark blue 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.",
+    "Pick the microphone with smooth gray stem from the surface and switch hands.",
+    "Use the right arm to hold the microphone for recording sound, then give it to the left arm.",
+    "Lift the dark blue microphone and hand it over to the other arm.",
+    "Hold the microphone with dark blue padding firmly and pass it to the other arm.",
+    "Lift the small audio microphone and pass it across.",
+    "Pick up the round head microphone and move it to the opposite side",
+    "Grasp the gray stem microphone with foam top and shift it to the opposite hand.",
+    "Pick up the medium microphone with two-tone color and hand it to the other side.",
+    "Reach for 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.",
+    "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.",
+    "Take the round head microphone and pass it to another hand",
+    "Take the microphone for recording sound and move it to another hand.",
+    "Hold the round head microphone with one hand and transfer it",
+    "Lift the microphone for recording sound and hand it over to the other side.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "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 gray and dark blue microphone and give it to the other.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Lift the gray and dark blue microphone and hand it to the other side easily.",
+    "Hold the round head microphone 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 microphone with round foam head, transfer it, then let go of it smoothly.",
+    "Grasp the microphone for recording sound, then give it to the other arm."
+  ],
+  "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 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 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 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 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 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 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 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 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 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.",
+    "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 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 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 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.",
+    "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",
+    "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 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 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 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 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.",
+    "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.",
+    "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 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.",
+    "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",
+    "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 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",
+    "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.",
+    "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",
+    "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 over.",
+    "Grab the handheld microphone from the table and pass it across."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode140.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the round head microphone, pass it, and release it to complete the task.",
+    "Pick up the round head microphone and move it to the opposite side",
+    "Grasp the dark blue microphone and shift it to the opposite hand.",
+    "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.",
+    "Seize the gray stem microphone with foam top and offer it to the other arm",
+    "Reach for the microphone with round foam head and move it to the other hand.",
+    "Hold the microphone with dark blue padding with one hand and transfer it",
+    "Grab the microphone for recording sound using the right arm and pass it over to the left arm.",
+    "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.",
+    "Hold the small audio microphone firmly and pass it to the other arm.",
+    "Pick the microphone for recording sound from the surface and switch hands.",
+    "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.",
+    "Hold the small audio microphone securely and shift it to another 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.",
+    "Lift the gray stem microphone with foam top using the right arm and pass it to the left arm.",
+    "Hold the microphone for recording sound and deliver it to another side.",
+    "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.",
+    "Pick up the microphone with smooth gray stem and hand it to the other side.",
+    "Take the gray stem microphone with foam top and move it to another hand.",
+    "Grasp the microphone covered with foam tip and switch it to another hand.",
+    "Lift the microphone with smooth gray stem and hand it to someone else.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Lift the microphone covered with foam tip and hand it to the other side easily.",
+    "Hold the dark blue microphone 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 for recording sound and pass it across.",
+    "Lift the gray stem microphone with foam top and hand it over 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, then pass it across without delay.",
+    "Lift the microphone with dark blue padding and deliver it to the other side.",
+    "Grasp the small audio microphone, then give it to the other arm.",
+    "Grip the small audio microphone and pass it to the other side",
+    "Grab the gray stem microphone with foam top 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 microphone with round foam head and transfer it to the opposite side.",
+    "Grasp the microphone with dark blue padding and pass it across.",
+    "Lift the round head microphone and hand it over to the other arm.",
+    "Hold the gray and 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.",
+    "Secure the small audio microphone from the table and transfer it.",
+    "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.",
+    "Hold the gray and dark blue microphone and pass it to the other hand.",
+    "Take the dark blue microphone and move it to the other hand.",
+    "Use one hand to grab the audio microphone with soft covering and pass it.",
+    "Take the microphone with dark blue padding, pass it, and release it to complete the task.",
+    "Pick up the audio microphone with soft covering and move it to the opposite side",
+    "Grasp the microphone with smooth gray stem and shift it to the opposite hand.",
+    "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.",
+    "Seize the gray stem microphone with foam top and offer it to the other arm",
+    "Reach for the gray stem microphone with foam top and move it to the other hand.",
+    "Hold the small audio microphone with one hand and transfer it",
+    "Grab the small audio microphone using the right arm and pass it over to the left arm.",
+    "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.",
+    "Hold the round head microphone firmly and pass it to the other arm.",
+    "Pick the round head microphone from the surface and switch hands.",
+    "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.",
+    "Hold the microphone covered with foam tip securely and shift it to another arm.",
+    "Take the microphone for recording sound and pass it to another hand",
+    "Secure the 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.",
+    "Hold the gray stem microphone with foam top 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.",
+    "Pick up the microphone with dark blue padding and hand it to the other side.",
+    "Take the gray and dark blue microphone and move it to another hand.",
+    "Grasp the small audio microphone and switch it to another hand.",
+    "Lift the gray and dark blue microphone and hand it to someone else.",
+    "Grab the audio microphone with soft covering and transfer it to another hand",
+    "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.",
+    "Grab the audio microphone with soft covering and give it to the opposite arm.",
+    "Lift the gray and dark blue microphone and pass it across.",
+    "Lift the gray and 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 microphone for recording sound, then pass it across without delay.",
+    "Lift the small audio microphone and deliver it to the other side.",
+    "Grasp the medium microphone with two-tone color, then give it to the other arm.",
+    "Grip the round head microphone and pass it to the other side",
+    "Grab the medium microphone with two-tone color and smoothly give 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 dark blue microphone and transfer it to the opposite side.",
+    "Grasp 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.",
+    "Hold the round head microphone and shift it to the other arm.",
+    "Take the microphone with smooth gray stem, shift it, and release it to the other side.",
+    "Secure the microphone with dark blue padding from the table and transfer it.",
+    "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 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.",
+    "Take the microphone with dark blue padding, pass it, and release it to complete the task.",
+    "Pick up the dark blue microphone and move it to the opposite side",
+    "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.",
+    "Seize the microphone for recording sound and offer it to the other arm",
+    "Reach for the gray and dark blue microphone 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.",
+    "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.",
+    "Hold the microphone covered with foam tip firmly and pass it to the other arm."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode141.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the microphone with cylindrical handle and pass it across.",
+    "Lift the mesh-patterned microphone head and hand it over to the other arm.",
+    "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.",
+    "Lift the microphone with textured metal head using the right arm and pass it to the left arm.",
+    "Hold the black and white microphone and pass 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.",
+    "Pick up the microphone with textured metal head and transfer it to the opposite side.",
+    "Lift the microphone with black tip and white body, then pass it across without delay.",
+    "Take the mesh-patterned microphone head and move it to the other hand.",
+    "Lift the microphone with rounded mesh head and pass it across.",
+    "Hold the mesh-patterned microphone head securely and shift it to another arm.",
+    "Grasp the microphone with cylindrical handle and shift it to the opposite hand.",
+    "Pick up the microphone with cylindrical handle and hand it to the other side.",
+    "Grip the smooth plastic microphone handle and pass it to the other side",
+    "Lift the microphone with textured metal head and hand it to the other side easily.",
+    "Secure the white microphone handle black accents using one arm and transfer it.",
+    "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.",
+    "Use one hand to grab the microphone with cylindrical handle and pass it.",
+    "Grasp the microphone with rounded mesh head, then give it to the other arm.",
+    "Take the microphone with cylindrical handle and move it to another hand.",
+    "Hold the smooth plastic microphone handle with one hand and transfer it",
+    "Secure the compact size microphone from the table and transfer it.",
+    "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.",
+    "Hold the microphone with textured metal head firmly and pass it to the other arm.",
+    "Pick the compact size microphone and transfer it to the other arm.",
+    "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 and shift it to the other arm.",
+    "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.",
+    "Pick the white microphone handle black accents from the surface and switch hands.",
+    "Lift the microphone with cylindrical handle and deliver it to the other side.",
+    "Grab the microphone with rounded mesh head and smoothly give it to the other arm.",
+    "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.",
+    "Grasp the mesh-patterned microphone head and switch it to another hand.",
+    "Seize the white microphone handle black accents and offer it to the other arm",
+    "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.",
+    "Reach for the white microphone handle black accents and move it to the other hand.",
+    "Grab the smooth plastic microphone handle 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 smooth plastic microphone handle, transfer it, then let go of it smoothly.",
+    "Lift the compact size microphone and hand it to someone else.",
+    "Take the compact size microphone and pass it to another hand",
+    "Pick up the black and white microphone, pass it to the other arm, and release.",
+    "Grasp the microphone with black tip and white body and pass it across.",
+    "Lift the microphone with black tip and white body and hand it over to the other arm.",
+    "Grab the microphone with rounded mesh head and transfer it to another hand",
+    "Take the microphone for voice recording, shift it, and release 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.",
+    "Hold the white microphone handle black accents and pass it to the other hand.",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Lift the handheld microphone and hand it over to the other side.",
+    "Pick up the white microphone handle black accents and transfer it to the opposite side.",
+    "Lift the black and white microphone, then pass it across without delay.",
+    "Take the microphone with cylindrical handle and move it to the other hand.",
+    "Lift the metal head microphone and pass it across.",
+    "Hold the smooth plastic microphone handle securely and shift it to another arm.",
+    "Grasp the microphone with rounded mesh head and shift it to the opposite hand.",
+    "Pick up the microphone with rounded mesh head and hand it to the other side.",
+    "Grip the smooth plastic microphone handle and pass it to the other side",
+    "Lift the microphone with black tip and white body and hand it to the other side easily.",
+    "Secure the mesh-patterned microphone head 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.",
+    "Use one hand to grab the metal head microphone and pass it.",
+    "Grasp the compact size microphone, then give it to the other arm.",
+    "Take the compact size microphone and move it to another hand.",
+    "Hold the compact size microphone with one hand and transfer it",
+    "Secure the black and white microphone from the table and transfer it.",
+    "Take the metal head microphone using the right arm and transfer it to the left arm.",
+    "Hold the mesh-patterned microphone head firmly and pass it to the other arm.",
+    "Pick the white microphone handle black accents and transfer it to the other arm.",
+    "Take the mesh-patterned microphone head, 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 microphone with rounded mesh head and move it to the opposite side",
+    "Use one arm to pick up the microphone with cylindrical handle and give it to the other.",
+    "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.",
+    "Grab the microphone for voice recording 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.",
+    "Grasp the smooth plastic microphone handle and switch it to another hand.",
+    "Seize the microphone with textured metal head and offer it to the other arm",
+    "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.",
+    "Reach for the mesh-patterned microphone head and move it to the other hand.",
+    "Grab the microphone for voice recording and give it to the opposite arm.",
+    "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm.",
+    "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.",
+    "Lift the handheld microphone and hand it to someone else.",
+    "Take the white microphone handle black accents and pass it to another hand",
+    "Pick up the handheld microphone, pass it to the other arm, and release.",
+    "Grasp the metal head microphone and pass it across.",
+    "Lift the mesh-patterned microphone head and hand it over to the other arm.",
+    "Grab the handheld microphone and transfer it to another hand",
+    "Take the mesh-patterned microphone head, shift it, and release it to the other side.",
+    "Lift the microphone with rounded mesh head 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.",
+    "Hold the mesh-patterned microphone head and deliver it to another side.",
+    "Lift the microphone with textured metal head and hand it over to the other side.",
+    "Pick up the white microphone handle black accents and transfer it to the opposite side.",
+    "Lift the white microphone handle black accents, then pass it across without delay."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 black and white plastic microphone and hand it over.",
+    "Grab the lightweight handheld microphone from the table and pass it over."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode144.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.",
+    "Grab the gray stem microphone with foam top and give it to the opposite arm.",
+    "Lift the microphone with smooth gray stem, then pass it across without delay.",
+    "Lift the microphone with dark blue padding and pass it across.",
+    "Lift the round head microphone 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.",
+    "Take the dark blue microphone, shift it, and release it to the other side.",
+    "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 hand it over to the other side.",
+    "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.",
+    "Pick up the dark blue microphone and transfer it to the opposite side.",
+    "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.",
+    "Grasp the microphone for recording sound and switch it to another hand.",
+    "Secure the gray stem microphone with foam top from the table and transfer it.",
+    "Reach for the dark blue microphone and move it to the other hand.",
+    "Hold the microphone for recording sound firmly and pass it to the other arm.",
+    "Hold the small audio microphone securely and shift it to another arm.",
+    "Grab the microphone for recording sound 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 round head 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",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Lift the microphone with dark blue padding and deliver 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 hand it to the other side easily.",
+    "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 round head microphone and move it to the other hand.",
+    "Hold the small audio microphone with one hand and transfer it",
+    "Seize the gray and dark blue microphone and offer it to the other arm",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Grasp the audio microphone with soft covering and shift it to the opposite hand.",
+    "Pick the small audio microphone from the surface and switch hands.",
+    "Take the round head microphone and move it to another hand.",
+    "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.",
+    "Grab the audio microphone with soft covering and transfer it to another hand",
+    "Grab the microphone covered with foam tip and smoothly give it to the other arm.",
+    "Use the right arm to hold the small audio microphone, 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.",
+    "Hold the gray stem microphone with foam top and shift 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 smooth gray stem and hand it to someone else.",
+    "Take the gray and dark blue microphone and pass it to another hand",
+    "Pick up the microphone for recording sound, pass it to the other arm, and release.",
+    "Grab the gray stem microphone with foam top and give it to the opposite arm.",
+    "Lift the small audio microphone, then pass it across without delay.",
+    "Lift the gray stem microphone with foam top and pass it across.",
+    "Lift the small audio microphone and hand it over to the other arm.",
+    "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.",
+    "Use one arm to pick up the gray and dark blue microphone and give it to the other.",
+    "Lift the small audio microphone and hand it over to the other side.",
+    "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.",
+    "Pick up the medium microphone with two-tone color and transfer it to the opposite side.",
+    "Pick up the gray and dark blue microphone and hand it to the other side.",
+    "Hold the microphone with dark blue padding and deliver it to another side.",
+    "Grasp the microphone covered with foam tip and switch it to another hand.",
+    "Secure the gray stem microphone with foam top from the table and transfer it.",
+    "Reach for the microphone with dark blue padding and move it to the other hand.",
+    "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.",
+    "Grab the microphone covered with foam tip 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 gray stem microphone with foam top, pass it, and release it to complete the task.",
+    "Pick up the gray and dark blue microphone and move it to the opposite side",
+    "Pick the audio microphone with soft covering and transfer it to the other arm.",
+    "Grasp the microphone with round foam head and pass it across.",
+    "Lift the microphone with dark blue padding and deliver it to the other side.",
+    "Grip the small audio microphone and pass it to the other side",
+    "Lift the dark blue microphone and hand it to the other side easily.",
+    "Hold the microphone covered with foam tip and pass it to the other 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.",
+    "Hold the round head microphone with one hand and transfer it",
+    "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.",
+    "Grasp the microphone for recording sound and shift it to the opposite hand.",
+    "Pick the small audio microphone from the surface and switch hands.",
+    "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.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Grab the medium microphone with two-tone color and smoothly give it to the other arm.",
+    "Use the right arm to hold the small audio 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.",
+    "Hold the microphone with round foam head 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.",
+    "Lift the microphone with dark blue padding and hand it to someone else.",
+    "Take the small audio microphone and pass it to another 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.",
+    "Lift the gray and dark blue microphone, then pass it across without delay.",
+    "Lift the microphone with round foam head and pass it across.",
+    "Lift the 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.",
+    "Take the microphone with round foam head, 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 round head microphone and hand it over to the other side.",
+    "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 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 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 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 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 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 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 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 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.",
+    "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 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 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 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 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 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 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 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 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 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 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 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.",
+    "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 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 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 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.",
+    "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 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 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 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.",
+    "Grab the compact microphone with two parts from the table and pass it over."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode146.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the round head microphone and hand it to someone else.",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "Hold the small audio microphone with one hand and transfer it",
+    "Grasp the microphone with round foam head, then give it to the other arm.",
+    "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Grab the gray stem microphone with foam top using the right arm and pass it over to the left arm.",
+    "Hold the microphone with round foam head and shift it to the other arm.",
+    "Take the medium microphone with two-tone color and pass it to another hand",
+    "Grab the small audio microphone and smoothly give it to the other arm.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Hold the small audio microphone with the right arm and give it to the left arm.",
+    "Pick the microphone for recording sound from the surface and switch hands.",
+    "Hold the microphone for recording sound 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 up the dark blue microphone, pass it to the other arm, and release.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Take 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.",
+    "Pick up the microphone with smooth gray stem and move it to the opposite side",
+    "Lift the small audio microphone and pass it across.",
+    "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.",
+    "Seize the dark blue microphone and offer it to the other arm",
+    "Take the microphone covered with foam tip and move it to another hand.",
+    "Take the small audio microphone using the right arm and transfer it to the left arm.",
+    "Hold the dark blue microphone and pass it to the other hand.",
+    "Take the dark blue microphone, pass it, and release it to complete the task.",
+    "Secure the microphone with dark blue padding from the table and transfer it.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Pick up the microphone with smooth gray stem and hand it to the other side.",
+    "Take the microphone for recording sound, shift it, and release it to the other side.",
+    "Hold the gray and dark blue 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.",
+    "Reach for the audio microphone with soft covering and move it to the other hand.",
+    "Hold the microphone for recording sound firmly and pass it to the other arm.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Lift the microphone with dark blue padding and deliver it to the other side.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Grasp the microphone covered with foam tip and shift it to the opposite hand.",
+    "Grab the microphone with dark blue padding 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 round head microphone and transfer it to the opposite side.",
+    "Grasp the dark blue 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 microphone with dark blue padding and hand it to someone else.",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "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.",
+    "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 medium microphone with two-tone color and pass it.",
+    "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 shift it to the other arm.",
+    "Take the microphone with smooth gray stem and pass it to another hand",
+    "Grab the microphone with dark blue padding and smoothly give it to the other arm.",
+    "Lift the gray and dark blue microphone 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 covered with foam tip from the surface and switch hands.",
+    "Hold the microphone for recording sound and deliver it to another side.",
+    "Lift the round head microphone using the right arm and pass it to the left arm.",
+    "Pick up the microphone with round foam head, pass it to the other arm, and release.",
+    "Grab the gray and dark blue microphone and transfer it to another hand",
+    "Take the microphone for recording sound and move it to the other hand.",
+    "Lift the round head microphone and hand it over 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 pass it across.",
+    "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.",
+    "Seize the microphone with dark blue padding and offer it to the other arm",
+    "Take the medium microphone with two-tone color and move it to another hand.",
+    "Take the dark blue 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.",
+    "Take the small audio microphone, pass it, and release it to complete the task.",
+    "Secure the dark blue microphone from the table and transfer it.",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "Pick up the microphone with round foam head and hand it to the other side.",
+    "Take the microphone with smooth gray stem, shift it, and release it to the other side.",
+    "Hold the round head microphone 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.",
+    "Reach for 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.",
+    "Lift the gray stem microphone with foam top, then pass it across without delay.",
+    "Lift the medium microphone with two-tone color and deliver it to the other side.",
+    "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.",
+    "Grab the audio microphone with soft covering and give it to the opposite arm.",
+    "Lift the round head microphone and hand it to the other side easily.",
+    "Pick up the audio microphone with soft covering and transfer it to the opposite side.",
+    "Grasp the dark blue microphone, transfer it, then let go of it smoothly.",
+    "Secure the microphone with dark blue padding using one arm and transfer it.",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "Grip the small audio microphone and pass it to the other side",
+    "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.",
+    "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 medium microphone with two-tone color and pass it.",
+    "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 shift it to the other arm.",
+    "Take the microphone with round foam head and pass it to another hand",
+    "Grab the gray stem microphone with foam top 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 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.",
+    "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 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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 compact microphone with two parts from the table and pass it across.",
+    "Take hold of the handheld microphone and hand it over."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode147.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the microphone for recording sound 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.",
+    "Take the dark blue microphone and move it to the other hand.",
+    "Seize the dark blue microphone and offer it to the other arm",
+    "Grasp the microphone with round foam head, then give it to the other arm.",
+    "Pick the medium microphone with two-tone color from the surface and switch hands.",
+    "Grasp the microphone with smooth gray stem 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.",
+    "Secure the microphone for recording sound from the table and transfer it.",
+    "Grasp the gray and dark blue microphone and pass it across.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.",
+    "Use one arm to pick up the microphone with dark blue padding and give it to the other.",
+    "Secure the small audio microphone using one arm and transfer it.",
+    "Reach for the gray and dark blue microphone and move it to the other hand.",
+    "Pick up the microphone for recording sound and hand it to the other side.",
+    "Pick up the audio microphone with soft covering and move it to the opposite side",
+    "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 round head microphone and hand it over to the other arm.",
+    "Grab the microphone with round foam head and give it to the opposite arm.",
+    "Pick up the small audio microphone and transfer it to the opposite side.",
+    "Hold the microphone with smooth gray stem 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",
+    "Lift the microphone with smooth gray stem and hand it over to the other side.",
+    "Take the microphone with dark blue padding and move it to another hand.",
+    "Lift the small audio microphone and pass it across.",
+    "Lift the round head 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.",
+    "Lift the gray stem microphone with foam top and hand it to someone else.",
+    "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 small audio microphone 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.",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Hold the dark blue microphone firmly and pass it to the other arm.",
+    "Hold the microphone with dark blue padding and pass it to the other hand.",
+    "Take the microphone for recording sound, shift it, and release it to the other side.",
+    "Hold the microphone with dark blue padding and deliver it to another side.",
+    "Hold the microphone with round foam head and shift it to the other arm.",
+    "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",
+    "Pick the gray and dark blue microphone and transfer it to the other arm.",
+    "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.",
+    "Grab the microphone with dark blue padding 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.",
+    "Take the microphone covered with foam tip and move it to the other hand.",
+    "Seize the round head microphone and offer it to the other arm",
+    "Grasp the microphone covered with foam tip, then give it to the other arm.",
+    "Pick the audio microphone with soft covering from the surface and switch hands.",
+    "Grasp the medium microphone with two-tone color and shift it to the opposite hand.",
+    "Lift the round head microphone using the right arm and pass it to the left arm.",
+    "Secure the gray stem microphone with foam top from the table and transfer it.",
+    "Grasp the audio microphone with soft covering and pass it across.",
+    "Grab the microphone with dark blue padding and transfer it to another hand",
+    "Use the right arm to grab the microphone for recording sound and transfer 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 dark blue microphone using one arm and transfer it.",
+    "Reach for the microphone with dark blue padding and move it to the other hand.",
+    "Pick up the microphone for recording sound and hand 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 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 covered with foam tip and hand it over to the other arm.",
+    "Grab the round head microphone and give it to the opposite arm.",
+    "Pick up the microphone for recording sound and transfer it to the opposite side.",
+    "Hold the microphone with dark blue padding with the right arm and give it to the left arm.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Hold the dark blue microphone with one hand and transfer it",
+    "Lift the dark blue microphone and hand it over to the other side.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "Lift the gray stem microphone with foam top and pass it across.",
+    "Lift the dark blue microphone and hand it to the other side easily.",
+    "Grab the gray stem microphone with foam top and smoothly give it to the other arm.",
+    "Lift the microphone covered with foam tip and hand it to someone else.",
+    "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",
+    "Lift the microphone with smooth gray stem and deliver it to the other side.",
+    "Take the round head 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 dark blue microphone firmly and pass it to the other arm.",
+    "Hold the microphone with dark blue padding and pass it to the other hand.",
+    "Take the microphone with round foam head, shift it, and release it to the other side.",
+    "Hold the microphone with round foam head and deliver it to another side.",
+    "Hold the audio microphone with soft covering and shift it to the other arm.",
+    "Grasp the small audio microphone and switch it to another hand.",
+    "Take the gray and dark blue microphone and pass it to another hand",
+    "Pick the dark blue microphone and transfer it to the other arm.",
+    "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.",
+    "Grab the small audio microphone using the right arm and pass it over to the left arm.",
+    "Pick up the gray and dark blue microphone, pass it to the other arm, and release.",
+    "Take the gray and dark blue microphone and move it to the other hand.",
+    "Seize the microphone with dark blue padding and offer it to the other arm",
+    "Grasp the microphone covered with foam tip, then give it to the other arm.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Grasp the round head microphone 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.",
+    "Secure the microphone for recording sound from the table and transfer it.",
+    "Grasp the microphone with smooth gray stem and pass it across."
+  ],
+  "unseen": [
+    "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 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 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 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.",
+    "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 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.",
+    "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 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 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 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 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 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 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",
+    "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.",
+    "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",
+    "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.",
+    "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",
+    "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 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",
+    "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.",
+    "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",
+    "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.",
+    "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 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.",
+    "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 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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode148.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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 audio microphone with soft covering and give it to the other.",
+    "Take the microphone with round foam head, shift it, and release it to the other side.",
+    "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.",
+    "Seize the microphone with round foam head and offer it to the other arm",
+    "Use one hand to grab the dark blue microphone and pass it.",
+    "Pick up the round head microphone, 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 microphone with dark blue padding and move it to the opposite side",
+    "Take the gray stem microphone with foam top, 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.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "Hold the microphone for recording sound and pass it to the other hand.",
+    "Pick up the microphone with dark blue padding and hand it to the other side.",
+    "Use the left arm to hold the audio microphone with soft covering, then give it to the right arm.",
+    "Hold the medium microphone with two-tone color with one hand and transfer it",
+    "Pick the microphone for recording sound from the surface and switch hands.",
+    "Lift the microphone with round foam head 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 for recording sound and hand it to the other side easily.",
+    "Reach for the microphone with smooth gray stem and move it to the other hand.",
+    "Grasp the microphone for recording sound and shift it to the opposite hand.",
+    "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.",
+    "Secure the audio microphone with soft covering 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 firmly and pass it to the other arm.",
+    "Use the left arm to grab the microphone covered with foam tip and transfer it to the right arm.",
+    "Hold the medium microphone with two-tone color and shift it to the other arm.",
+    "Pick the microphone with dark blue padding and transfer it to the other arm.",
+    "Hold the microphone with smooth gray stem securely and shift it to another arm.",
+    "Grasp the round head microphone and pass it across.",
+    "Grab the audio microphone with soft covering and transfer it to another hand",
+    "Pick up the dark blue microphone and transfer it to the opposite side.",
+    "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.",
+    "Secure the dark blue microphone from the table and transfer it.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "Lift the audio microphone with soft covering and pass it across.",
+    "Take the microphone with round foam head and move it to the other hand.",
+    "Hold the medium microphone with two-tone color and deliver it to another side.",
+    "Grasp the audio microphone with soft covering and switch it to another hand.",
+    "Lift the gray stem microphone with foam top and hand it to someone else.",
+    "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.",
+    "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.",
+    "Use one arm to pick up the dark blue microphone and give it to the other.",
+    "Take the medium microphone with two-tone color, shift it, and release it to the other side.",
+    "Take the medium microphone with two-tone color and pass it to another hand",
+    "Grab the microphone covered with foam tip and smoothly give it to the other arm.",
+    "Seize the round head microphone and offer it to the other arm",
+    "Use one hand to grab the dark blue microphone and pass it.",
+    "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.",
+    "Grasp the microphone with smooth gray stem, then give it to the other arm.",
+    "Pick up the microphone covered with foam tip and move it to the opposite side",
+    "Take the gray and dark blue microphone, 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.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Grip the dark blue microphone and pass it to the other side",
+    "Hold the dark blue microphone and pass it to the other hand.",
+    "Pick up the microphone with dark blue padding and hand it to the other side.",
+    "Use the left arm to hold the microphone for recording sound, then give it to the right arm.",
+    "Hold the microphone covered with foam tip with one hand and transfer it",
+    "Pick the gray and dark blue microphone from the surface and switch hands.",
+    "Lift the audio microphone with soft covering and deliver it to the other side.",
+    "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.",
+    "Lift the medium microphone with two-tone color and hand it to the other side easily.",
+    "Reach for the gray and dark blue microphone and move it to the other hand.",
+    "Grasp the gray stem microphone with foam top and shift it to the opposite hand.",
+    "Lift the medium microphone with two-tone color and hand it over to the other side.",
+    "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.",
+    "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.",
+    "Use the left arm to grab the microphone for recording sound and transfer it to the right arm.",
+    "Hold the dark blue microphone and shift it to the other arm.",
+    "Pick the small audio microphone and transfer it to the other arm.",
+    "Hold the microphone covered with foam tip securely and shift it to another arm.",
+    "Grasp the audio microphone with soft covering and pass it across.",
+    "Grab the small audio microphone and transfer it to another hand",
+    "Pick up the microphone with dark blue padding and transfer it to the opposite side.",
+    "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.",
+    "Secure the microphone with smooth gray stem from the table and transfer it.",
+    "Take the microphone covered with foam tip and move it to another hand.",
+    "Lift the microphone with dark blue padding and pass it across.",
+    "Take 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 switch it to another hand.",
+    "Lift the small audio microphone and hand it to someone else.",
+    "Lift the microphone with smooth gray stem using the left arm and pass 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.",
+    "Use one arm to pick up the microphone with smooth gray stem and give it to the other.",
+    "Take the small audio microphone, shift it, and release it to the other side.",
+    "Take the gray and dark blue microphone and pass it to another hand",
+    "Grab the microphone for recording sound and smoothly give it to the other arm.",
+    "Seize the dark blue microphone and offer it to the other 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.",
+    "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"
+  ],
+  "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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 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.",
+    "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 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 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.",
+    "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",
+    "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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "Pick up the handheld microphone and transfer it to the other hand."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode149.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the dark blue microphone, pass it, and release it to complete the task.",
+    "Pick up the small audio microphone and move it to the opposite side",
+    "Pick up the medium microphone with two-tone color and hand it to the other side.",
+    "Lift the round head microphone, then pass it across without delay.",
+    "Take the dark blue microphone and pass it to another hand",
+    "Lift the microphone covered with foam tip and deliver it to the other side.",
+    "Secure the microphone with dark blue padding using one arm and transfer it.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Hold the small audio microphone with the left arm and give it to the right arm.",
+    "Grab the gray and dark blue microphone 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",
+    "Hold the microphone for recording sound firmly and pass it to the other arm.",
+    "Hold the small audio microphone securely and shift it to another arm.",
+    "Take the round head microphone and move it to the other hand.",
+    "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.",
+    "Grasp the microphone for recording sound and switch it to another hand.",
+    "Reach for the microphone with round foam head and move it to the other hand.",
+    "Hold the round head microphone and shift it to the other arm.",
+    "Use one hand to grab the audio microphone with soft covering 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 side.",
+    "Hold the microphone for recording sound and pass it to the other hand.",
+    "Hold the round head microphone with one hand and transfer it",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "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",
+    "Lift the microphone with smooth gray stem and hand it to the other side easily.",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Grasp the dark blue microphone and shift it to the opposite hand.",
+    "Secure the dark blue microphone from the table and transfer it.",
+    "Use the left arm to grab the small audio microphone and transfer it to the right arm.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.",
+    "Grasp the gray stem microphone with foam top and pass it across.",
+    "Grasp the microphone with round foam head, then 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.",
+    "Lift the microphone for recording sound using the left arm and pass it to the right arm.",
+    "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.",
+    "Take the microphone for recording sound and move it to another hand.",
+    "Pick the audio microphone with soft covering from the surface and switch hands.",
+    "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.",
+    "Use one arm to pick up the microphone with round foam head and give it to the other.",
+    "Take the microphone for recording sound using the left arm and transfer it to the right arm.",
+    "Take the microphone covered with foam tip, pass it, and release it to complete the task.",
+    "Pick up the microphone with dark blue padding and move it to the opposite side",
+    "Pick up the round head microphone and hand it to the other side.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "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.",
+    "Secure the medium microphone with two-tone color using one arm and transfer it.",
+    "Grab the microphone with round foam head and give it to the opposite arm.",
+    "Hold the microphone covered with foam tip with the left arm and give it to the right arm.",
+    "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.",
+    "Grab the microphone with round foam head and transfer it to another hand",
+    "Hold the microphone with round foam head firmly and pass it to the other arm.",
+    "Hold the dark blue microphone securely and shift it to another arm.",
+    "Take the gray stem microphone with foam top and move it to the other hand.",
+    "Pick up the microphone with dark blue padding, pass it to the other arm, and release.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Reach for the dark blue microphone and move it to the other hand.",
+    "Hold the dark blue microphone and shift it to the other arm.",
+    "Use one hand to grab the round head microphone and pass it.",
+    "Lift the microphone covered with foam tip and pass it across.",
+    "Lift the gray and dark blue microphone and hand it over to the other side.",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Hold the audio microphone with soft covering with one hand and transfer it",
+    "Grip the small audio microphone and pass it to the other side",
+    "Grab the gray and dark blue microphone and smoothly give it to the other arm.",
+    "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 microphone covered with foam tip and hand it to someone else.",
+    "Grasp the gray stem microphone with foam top and shift it to the opposite hand.",
+    "Secure the microphone with dark blue padding from the table and transfer it.",
+    "Use the left arm to grab the dark blue microphone and transfer it to the right arm.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.",
+    "Grasp the microphone covered with foam tip and pass it across.",
+    "Grasp the microphone with round foam head, then give 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 audio microphone with soft covering using the left arm and pass it to the right arm.",
+    "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.",
+    "Take the audio microphone with soft covering and move it to another hand.",
+    "Pick the small audio microphone from the surface and switch hands.",
+    "Hold the medium microphone with two-tone color and deliver it to another side.",
+    "Pick up the microphone with smooth gray stem and transfer it to the opposite side.",
+    "Use one arm to pick up the microphone for recording sound 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.",
+    "Take the microphone with dark blue padding, pass it, and release it to complete the task.",
+    "Pick up the microphone with smooth gray stem and move it to the opposite side",
+    "Pick up the audio microphone with soft covering and hand it to the other side.",
+    "Lift the gray stem microphone with foam top, then pass it across without delay.",
+    "Take the dark blue microphone and pass it to another hand",
+    "Lift the microphone with dark blue padding and deliver it to the other side.",
+    "Secure the microphone for recording sound using one arm and transfer it.",
+    "Grab the gray stem microphone with foam top and give it to the opposite arm.",
+    "Hold the microphone for recording sound with the left arm and give it to the right arm.",
+    "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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 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",
+    "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.",
+    "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 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.",
+    "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",
+    "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.",
+    "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 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.",
+    "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 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 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 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 compact microphone with two parts and pass it to the other arm."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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 compact size microphone from the table and transfer it.",
+    "Hold the mesh-patterned microphone head firmly and pass it to the other arm.",
+    "Grasp the white microphone handle black accents, then give it to the other arm.",
+    "Pick the white microphone handle black accents from the surface and switch hands.",
+    "Grab the microphone with cylindrical handle and give it to the opposite arm.",
+    "Lift the microphone with rounded mesh head and pass it across.",
+    "Hold the handheld microphone 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.",
+    "Lift the black and white microphone and hand it over to the other side.",
+    "Pick up the mesh-patterned microphone head and hand it to the other side.",
+    "Grasp the smooth plastic microphone handle and pass it across.",
+    "Seize the compact size microphone and offer it to the other arm",
+    "Hold the microphone with cylindrical handle 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 black and white microphone and pass it to another hand",
+    "Grab the white microphone handle black accents and smoothly give it to the other arm.",
+    "Grab the compact size microphone using the right arm and pass it over to the left arm.",
+    "Lift the black and white microphone, then pass it across without delay.",
+    "Grasp the metal head microphone and switch it to another hand.",
+    "Grip the microphone with cylindrical handle and pass it to the other side",
+    "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.",
+    "Reach for the metal head microphone and move it to the other hand.",
+    "Take the handheld microphone, pass it, and release it to complete the task.",
+    "Use one hand to grab the microphone for voice recording and pass it.",
+    "Hold the microphone with black tip and white body and shift it to the other arm.",
+    "Take the metal head microphone and move it to the other hand.",
+    "Use one arm to pick up the metal head microphone and give it to the other.",
+    "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.",
+    "Secure the handheld microphone using one arm and transfer it.",
+    "Grab the white microphone handle black accents and transfer it to another hand",
+    "Hold the mesh-patterned microphone head securely and shift it to another arm.",
+    "Lift the microphone with textured metal head and hand it to someone else.",
+    "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.",
+    "Pick up the black and white microphone and transfer it to the opposite side.",
+    "Take the microphone with black tip and white body and move it to another hand.",
+    "Use the right arm to hold the microphone with rounded mesh head, then give it to the left 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, pass it to the other arm, and release.",
+    "Lift the mesh-patterned microphone head and hand it to the other side easily.",
+    "Lift the white microphone handle black accents and hand it over to the other arm.",
+    "Lift the microphone for voice recording using the right arm and pass it to the left arm.",
+    "Take the black and white microphone, shift it, and release it to the other side.",
+    "Secure the black and white microphone from the table and transfer it.",
+    "Hold the mesh-patterned microphone 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.",
+    "Pick the handheld microphone from the surface and switch hands.",
+    "Grab the microphone with textured metal head and give it to the opposite arm.",
+    "Lift the metal head microphone and pass it across.",
+    "Hold the microphone with textured metal head and deliver it to another side.",
+    "Use the right arm to grab the metal head microphone and transfer it to the left arm.",
+    "Lift the black and white microphone and hand it over to the other side.",
+    "Pick up the white microphone handle black accents and hand it to the other side.",
+    "Grasp the compact size microphone and pass it across.",
+    "Seize the microphone with black tip and white body and offer it to the other arm",
+    "Hold the white microphone handle black accents with the right arm and give it to the left arm.",
+    "Grasp the metal head microphone and shift it to the opposite hand.",
+    "Take the smooth plastic microphone handle and pass it to another hand",
+    "Grab the compact size microphone and smoothly give 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 metal head microphone, then pass it across without delay.",
+    "Grasp the microphone with rounded mesh head and switch it to another hand.",
+    "Grip the microphone with textured metal head and pass it to the other side",
+    "Pick the white microphone handle black accents and transfer it to the other arm.",
+    "Lift the microphone with cylindrical handle and deliver it to the other side.",
+    "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.",
+    "Use one hand to grab the white microphone handle black accents and pass it.",
+    "Hold the smooth plastic microphone handle and shift it to the other arm.",
+    "Take the microphone with cylindrical handle and move it to the other hand.",
+    "Use one arm to pick up the white microphone handle black accents and give it to the other.",
+    "Hold the microphone for voice recording with one hand and transfer it",
+    "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.",
+    "Secure the microphone for voice recording using one arm and transfer it.",
+    "Grab the microphone with rounded mesh head and transfer it to another hand",
+    "Hold the smooth plastic microphone handle securely and shift it to another arm.",
+    "Lift the microphone with textured metal head and hand it to someone else.",
+    "Pick up the metal head microphone and move it to the opposite side",
+    "Hold the metal head microphone and pass it to the other hand.",
+    "Pick up the mesh-patterned microphone head and transfer it to the opposite side.",
+    "Take the white microphone handle black accents and move it to another hand.",
+    "Use the right arm to hold the microphone with rounded mesh head, 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 up the microphone with cylindrical handle, pass it to the other arm, and release.",
+    "Lift the mesh-patterned microphone head and hand it to the other side easily.",
+    "Lift the black and white microphone and hand it over to the other arm.",
+    "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 microphone for voice recording from the table and transfer it.",
+    "Hold the white microphone handle black accents firmly and pass it to the other arm.",
+    "Grasp the black and white microphone, then give it to the other arm.",
+    "Pick the mesh-patterned microphone head from the surface and switch hands.",
+    "Grab the microphone with textured metal head and give it to the opposite arm.",
+    "Lift the compact size microphone and pass it across.",
+    "Hold the microphone with textured metal head and deliver it to another side.",
+    "Use the right arm to grab the compact size microphone and transfer it to the left 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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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.",
+    "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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode150.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the small audio microphone and pass it to the other hand.",
+    "Lift the small audio microphone and deliver it to the other side.",
+    "Pick up the small audio microphone and hand it to the other side.",
+    "Reach for the medium microphone with two-tone color and move it to the other hand.",
+    "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.",
+    "Take the microphone with dark blue padding, 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.",
+    "Secure the gray stem microphone with foam top from the table and transfer it.",
+    "Grasp the small audio microphone and shift it to the opposite 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 pass it to another hand",
+    "Secure the medium microphone with two-tone color using one arm and transfer it.",
+    "Hold the microphone covered with foam tip firmly and pass it to the other arm.",
+    "Hold the microphone with smooth gray stem with one hand and transfer it",
+    "Pick the small audio microphone and transfer it to the other arm.",
+    "Grab the microphone with smooth gray stem and give it to the opposite arm.",
+    "Lift the microphone with round foam head, then pass it across without delay.",
+    "Pick up the microphone with smooth gray stem and transfer it to the opposite side.",
+    "Lift the gray stem microphone with foam top and hand it over to the other side.",
+    "Take the small audio microphone and move it to another hand.",
+    "Grasp the small audio microphone and switch it to another hand.",
+    "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.",
+    "Grip the audio microphone with soft covering 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.",
+    "Grab the dark blue microphone 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",
+    "Hold the microphone with round foam head and deliver it to another 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 small audio microphone and pass it.",
+    "Pick the microphone with smooth gray stem from the surface and switch hands.",
+    "Lift the microphone covered with foam tip and hand it to someone else.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Hold the microphone with dark blue padding 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.",
+    "Hold the microphone with dark blue padding with the right arm and give it to the left arm.",
+    "Lift the microphone covered with foam tip and hand it to the other side easily.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "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 over to the other arm.",
+    "Lift the microphone for recording sound and pass it across.",
+    "Grasp the microphone covered with foam tip and pass it across.",
+    "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 the other hand.",
+    "Pick up the gray and dark blue microphone, pass it to the other arm, and release.",
+    "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.",
+    "Pick up the gray stem microphone with foam top and hand it to the other side.",
+    "Reach for the microphone covered with foam tip and move it to the other hand.",
+    "Hold the microphone covered with foam tip and shift it to the other arm.",
+    "Grasp the small audio microphone, then give it to the other 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.",
+    "Secure the dark blue microphone from the table and transfer it.",
+    "Grasp the dark blue microphone and shift it to the opposite hand.",
+    "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.",
+    "Take the small audio microphone and pass it to another hand",
+    "Secure the dark blue microphone using one arm and transfer it.",
+    "Hold the gray and dark blue microphone firmly and pass it to the other arm.",
+    "Hold the microphone with smooth gray stem with one hand and transfer it",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "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.",
+    "Pick up the microphone with dark blue padding and transfer it to the opposite side.",
+    "Lift the microphone with dark blue padding and hand it over to the other side.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "Grasp the microphone with dark blue padding and switch it to another hand.",
+    "Lift the dark blue microphone 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",
+    "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.",
+    "Grab the round head microphone 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",
+    "Hold the medium microphone with two-tone color and deliver it to another side.",
+    "Use one arm to pick up the dark blue microphone and give it to the other.",
+    "Use one hand to grab the microphone covered with foam tip and pass it.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Lift the microphone with smooth gray stem and hand it to someone else.",
+    "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.",
+    "Hold the microphone with smooth gray stem securely and shift it to another arm.",
+    "Take the small audio microphone 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.",
+    "Lift the medium microphone with two-tone color and hand it to the other side easily.",
+    "Grab the gray stem microphone with foam top and transfer it to another hand",
+    "Grab the microphone with smooth gray stem and smoothly give it to the other arm.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Lift the microphone with smooth gray stem and pass it across.",
+    "Grasp the small audio microphone and pass it across.",
+    "Seize the microphone covered with foam tip and offer it to the other arm",
+    "Take the microphone with smooth gray stem 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 gray stem microphone with foam top and pass it to the other hand.",
+    "Lift the round head microphone and deliver it to the other side.",
+    "Pick up the gray and dark blue microphone and hand it to the other side.",
+    "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.",
+    "Grasp the microphone with round foam head, then give it to the other arm.",
+    "Take the audio microphone with soft covering, pass it, and release it to complete the task.",
+    "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 and shift it to the opposite hand."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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 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 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 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 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 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.",
+    "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.",
+    "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 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 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 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 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 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 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.",
+    "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.",
+    "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 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 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 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.",
+    "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"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode152.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium microphone with two-tone color using the right arm and transfer 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 small audio microphone and give it to the other.",
+    "Grab the round head microphone using the right arm and pass it over to the left arm.",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "Lift the gray stem microphone with foam top and deliver it to the other side.",
+    "Pick up the small audio microphone and transfer it to the opposite 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.",
+    "Grasp the microphone with round foam head and switch it to another hand.",
+    "Lift the microphone covered with foam tip, then pass it across without delay.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Seize the dark blue microphone and offer it to the other arm",
+    "Hold the round head microphone with one hand and transfer it",
+    "Hold the microphone for recording sound and deliver it to another side.",
+    "Use one hand to grab the medium microphone with two-tone color and pass it.",
+    "Take the microphone covered with foam tip and move it to another hand.",
+    "Pick the dark blue microphone and transfer 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 and shift it to the other arm.",
+    "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.",
+    "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.",
+    "Take the small audio microphone and pass it to another hand",
+    "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 the right arm and give it to the left arm.",
+    "Hold the dark blue microphone securely and shift it to another arm.",
+    "Secure the round head microphone 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 someone else.",
+    "Hold the gray and dark blue microphone and pass 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 transfer it to another hand",
+    "Secure the gray and dark blue microphone 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.",
+    "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.",
+    "Pick up the microphone with dark blue padding, pass it to the other arm, and release.",
+    "Take the small audio microphone and move it to the other hand.",
+    "Grab the medium microphone with two-tone color and smoothly give it to the other arm.",
+    "Take the round head microphone, 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.",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Lift the dark blue microphone and hand it over to the other side.",
+    "Pick up the microphone with dark blue padding and move it to the opposite side",
+    "Take the microphone with round foam head using the right arm and transfer it to the left arm.",
+    "Grasp the dark blue microphone, 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.",
+    "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.",
+    "Grip the round head microphone and pass it to the other side",
+    "Lift the microphone with dark blue padding and deliver it to the other side.",
+    "Pick up the small audio microphone and transfer it to the opposite side.",
+    "Lift the gray stem microphone with foam top and pass it across.",
+    "Pick up the round head microphone and hand it to the other side.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Lift the gray and dark blue microphone, then pass it across without delay.",
+    "Grab the round head microphone and give it to the opposite arm.",
+    "Seize the microphone with round foam head and offer it to the other arm",
+    "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.",
+    "Use one hand to grab the microphone with round foam head and pass it.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "Pick the microphone for recording sound and transfer it to the other arm.",
+    "Grasp the microphone with round foam head and shift it to the opposite hand.",
+    "Lift the microphone for recording sound and hand it to the other side easily.",
+    "Hold the dark blue microphone and shift it to the other arm.",
+    "Reach for the round head microphone and move it to the other hand.",
+    "Pick the gray and dark blue microphone from the surface and switch hands.",
+    "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.",
+    "Take the round head microphone and pass it to another hand",
+    "Take the small audio microphone, 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 securely and shift it to another arm.",
+    "Secure the gray and dark blue microphone from the table and transfer it.",
+    "Lift the microphone covered with foam tip using the right arm and pass it to the left arm.",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Hold the small audio microphone and pass it to the other hand.",
+    "Lift the medium microphone with two-tone color and hand it over to the other arm.",
+    "Grab the small audio microphone and transfer it to another hand",
+    "Secure the audio microphone with soft covering 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.",
+    "Grasp the dark blue microphone, transfer it, then let go of it smoothly.",
+    "Pick up the microphone with round foam head, pass it to the other arm, and release.",
+    "Take the microphone with round foam head and move it to the other hand.",
+    "Grab the microphone with dark blue padding and smoothly give it to the other arm.",
+    "Take the microphone with smooth gray stem, shift it, and release it to the other side.",
+    "Hold the microphone covered with foam tip firmly and pass it to the other arm.",
+    "Grasp the dark blue microphone and pass it across.",
+    "Lift the microphone with round foam head and hand it over to the other side.",
+    "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.",
+    "Grasp the gray stem microphone with foam top, then give it to the other arm.",
+    "Use one arm to pick up the small audio microphone and give it to the other.",
+    "Grab the small audio microphone using the right arm and pass it over to the left arm.",
+    "Grip the microphone with round foam head and pass it to the other side",
+    "Lift the gray and dark blue microphone and deliver it to the other side.",
+    "Pick up the microphone with dark blue padding and transfer it to the opposite side.",
+    "Lift the microphone with smooth gray stem and pass it across.",
+    "Pick up the small audio microphone and hand it to the other side.",
+    "Grasp the medium microphone with two-tone color and switch it to another hand."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode153.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the small audio microphone and deliver it to another side.",
+    "Grab the medium microphone with two-tone color 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 the gray stem microphone with foam top from the surface and switch hands.",
+    "Grasp the round head microphone, transfer it, then let go of it smoothly.",
+    "Grasp the round head microphone, then give it to the other arm.",
+    "Pick up the round head microphone and hand it to the other side.",
+    "Take the gray and 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 dark blue microphone and transfer it to the left arm.",
+    "Lift the microphone with dark blue padding and hand it over to the other side.",
+    "Hold the dark blue microphone firmly and pass it to the other arm.",
+    "Hold the small audio microphone and pass it to the other hand.",
+    "Take the microphone covered with foam tip and move it to another hand.",
+    "Lift the round head microphone using the right arm and pass 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 covered with foam tip and shift it to the other arm.",
+    "Lift the gray and dark blue microphone, then pass it across without delay.",
+    "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.",
+    "Use the right arm to hold the round head microphone, then give it to the left arm.",
+    "Take the microphone with smooth gray stem and pass it to another hand",
+    "Grip the small audio microphone and pass it to the other side",
+    "Lift the dark blue microphone and hand it over 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 to the other side easily.",
+    "Seize the microphone with smooth gray stem and offer it to the other arm",
+    "Secure the microphone with smooth gray stem using one arm and transfer it.",
+    "Grab the audio microphone with soft covering and transfer it to another hand",
+    "Pick the small audio microphone and transfer 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 the other hand.",
+    "Use one hand to grab the microphone with round foam head and pass it.",
+    "Grasp the microphone with round foam head and shift it to the opposite hand.",
+    "Take the microphone with round foam head, shift it, and release it to the other side.",
+    "Grasp the small audio microphone and switch it to another hand.",
+    "Lift the microphone with smooth gray stem and hand it to someone else.",
+    "Take the microphone with smooth gray stem using the right arm and transfer it to the left arm.",
+    "Pick up the small audio microphone and transfer it to the opposite side.",
+    "Hold the microphone with dark blue padding securely and shift it to another arm.",
+    "Lift the dark blue microphone and deliver it to the other side.",
+    "Hold the round head microphone with one hand and transfer it",
+    "Grab the gray stem microphone with foam top and smoothly give it to the other arm.",
+    "Secure the microphone for recording sound from the table and transfer it.",
+    "Hold the dark blue microphone with the right arm and give it to the left arm.",
+    "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.",
+    "Grab the gray and dark blue microphone and give it to the opposite arm.",
+    "Pick the microphone with smooth gray stem from the surface and switch hands.",
+    "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.",
+    "Grasp the microphone covered with foam tip, then give it to the other arm.",
+    "Pick up the gray and dark blue microphone and hand it to the other side.",
+    "Take the audio microphone with soft covering, pass it, and release it to complete the task.",
+    "Lift the microphone for recording sound and pass it across.",
+    "Use the right arm to grab the round head microphone and transfer it to the left arm.",
+    "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.",
+    "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.",
+    "Lift the small audio microphone using the right arm and pass it to the left arm.",
+    "Use one arm to pick up the microphone with dark blue padding and give it to the other.",
+    "Hold the microphone with dark blue padding and shift it to the other arm.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Grasp the microphone with dark blue padding and pass it across.",
+    "Pick up the round head microphone, 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.",
+    "Take the audio microphone with soft covering and pass it to another hand",
+    "Grip the round head microphone and pass it to the other side",
+    "Lift the dark blue microphone and hand it over 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 hand it to the other side easily.",
+    "Seize the microphone with round foam head and offer it to the other arm",
+    "Secure the gray and dark blue microphone using one arm and transfer it.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Pick the medium microphone with two-tone color and transfer it to the other arm.",
+    "Reach for the microphone with smooth gray stem and move it to the other hand.",
+    "Take the small audio microphone 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 and shift it to the opposite hand.",
+    "Take the microphone for recording sound, shift it, and release it to the other side.",
+    "Grasp the dark blue microphone and switch it to another hand.",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Take the microphone with round foam head 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.",
+    "Hold the microphone with round foam head securely and shift it to another arm.",
+    "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",
+    "Grab the round head microphone and smoothly give it to the other arm.",
+    "Secure the medium microphone with two-tone color from the table and transfer it.",
+    "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.",
+    "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 give it to the opposite arm.",
+    "Pick the microphone covered with foam tip from the surface and switch hands.",
+    "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.",
+    "Grasp the microphone with smooth gray stem, then give it to the other arm.",
+    "Pick up the medium microphone with two-tone color and hand it to the other side.",
+    "Take the medium microphone with two-tone color, pass it, and release it to complete the task.",
+    "Lift the dark blue microphone and pass it across.",
+    "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm."
+  ],
+  "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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.",
+    "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.",
+    "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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode154.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to pick up the audio microphone with soft covering and give it to the other.",
+    "Pick the microphone with dark blue padding 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 gray stem microphone with foam top and pass it to the other hand.",
+    "Take the round head microphone and move it to another hand.",
+    "Lift the medium microphone with two-tone color and hand it to the other side easily.",
+    "Use the right arm to hold the microphone with dark blue padding, 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.",
+    "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",
+    "Grip the dark blue microphone and pass it to the other side",
+    "Lift the gray stem microphone with foam top and hand it to someone else.",
+    "Hold the medium microphone with two-tone color and deliver it to another side.",
+    "Seize the microphone with round foam head and offer it to the other arm",
+    "Hold the microphone covered with foam tip with one hand and transfer it",
+    "Grasp the microphone with smooth gray stem, then give it to the other arm.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Grab the small audio microphone and smoothly give it to the other arm.",
+    "Use one hand to grab the microphone with smooth gray stem and pass it.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Hold the audio microphone with soft covering 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.",
+    "Lift the round head microphone 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 microphone with round foam head and pass it to another hand",
+    "Grasp the gray and dark blue microphone and shift it to the opposite hand.",
+    "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 gray and dark blue microphone, shift it, and release it to the other side.",
+    "Pick the gray and dark blue microphone and transfer 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.",
+    "Grab the gray and dark blue microphone and give it to the opposite arm.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Hold the medium microphone with two-tone color 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 round head microphone firmly and pass it to the other arm.",
+    "Take the microphone with dark blue padding, pass it, and release it to complete the task.",
+    "Secure the medium microphone with two-tone color 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.",
+    "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 medium microphone with two-tone color and deliver it to the other side.",
+    "Lift the microphone covered with foam tip and pass it across.",
+    "Hold the round head microphone 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 the microphone with round foam head from the surface and switch hands.",
+    "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.",
+    "Hold the gray stem microphone with foam top and pass it to the other hand.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "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.",
+    "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 and move it to the other hand.",
+    "Pick up the gray and dark blue microphone and move it to the opposite side",
+    "Grip the microphone covered with foam tip and pass it to the other side",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Hold the microphone for recording sound and deliver it to another side.",
+    "Seize the microphone with smooth gray stem and offer it to the other arm",
+    "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.",
+    "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.",
+    "Grab the audio microphone with soft covering and smoothly give it to the other arm.",
+    "Use one hand to grab the gray stem microphone with foam top and pass it.",
+    "Lift the dark blue 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 up the microphone with smooth gray stem and hand it to the other side.",
+    "Lift the small audio 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",
+    "Take the microphone with dark blue padding and pass it to another hand",
+    "Grasp the microphone covered with foam tip and shift it to the opposite hand.",
+    "Reach for the microphone for recording sound and move it to the other hand.",
+    "Secure the small audio microphone from the table and transfer it.",
+    "Take the gray stem microphone with foam top, shift it, and release it to the other side.",
+    "Pick the microphone covered with foam tip 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.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Grasp the microphone with round foam head 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, pass it to the other arm, and release.",
+    "Hold the medium microphone with two-tone color firmly and pass it to the other arm.",
+    "Take the round head microphone, pass it, and release it to complete the task.",
+    "Secure the microphone with round foam head using one arm and transfer it.",
+    "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.",
+    "Lift the dark blue microphone 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 gray and dark blue microphone and deliver it to the other side.",
+    "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 arm to pick up the round head microphone and give it to the other.",
+    "Pick the microphone for recording sound 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 and pass it to the other hand.",
+    "Take the gray stem microphone with foam top and move it to another hand.",
+    "Lift the microphone for recording sound and hand it to the other side easily.",
+    "Use the right arm to hold the microphone for recording sound, 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.",
+    "Take the dark blue microphone and move it to the other hand.",
+    "Pick up the microphone for recording sound and move it to the opposite side"
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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",
+    "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 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 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 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.",
+    "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 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 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 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 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.",
+    "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 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 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 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 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 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.",
+    "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",
+    "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 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 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.",
+    "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"
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode155.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to hold the dark blue microphone, then give it to the right arm.",
+    "Grab the microphone for recording sound and transfer it to another hand",
+    "Pick up the microphone with round foam head and move it to the opposite side",
+    "Pick the gray and dark blue microphone and transfer it to the other arm.",
+    "Grab the microphone with smooth gray stem and give it to the opposite arm.",
+    "Lift the gray and dark blue microphone and deliver it to the other side.",
+    "Pick up the microphone with dark blue padding and transfer it to the opposite side.",
+    "Take the microphone for recording sound and move it to the other hand.",
+    "Grasp the dark blue microphone and shift it to the opposite hand.",
+    "Lift the microphone with round foam head and hand it over to the other side.",
+    "Pick up the dark blue microphone and hand it to the other side.",
+    "Lift the small audio microphone, then pass it across without delay.",
+    "Grasp the microphone for recording sound and switch it to another hand.",
+    "Take the microphone covered with foam tip 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.",
+    "Hold the audio microphone with soft covering with one hand and transfer it",
+    "Hold the gray and dark blue microphone 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.",
+    "Secure the gray stem microphone with foam top using one arm and transfer it.",
+    "Lift the small audio microphone using the left arm and pass it to the right arm.",
+    "Use one hand to grab the microphone for recording sound and pass it.",
+    "Take the small audio microphone and move it to another hand.",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Hold the audio microphone with soft covering and deliver it to another side.",
+    "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.",
+    "Lift the dark blue microphone and pass it across.",
+    "Hold the gray and dark blue microphone firmly and pass it to the other arm.",
+    "Secure the small audio microphone from the table and transfer it.",
+    "Seize the dark blue microphone and offer it to the other arm",
+    "Grasp the small audio 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 dark blue padding and move it to the other hand.",
+    "Take the microphone for recording sound, 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.",
+    "Grab the medium microphone with two-tone color 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 microphone with round foam head and hand it to someone else.",
+    "Take the medium microphone with two-tone color and pass it to another hand",
+    "Use one arm to pick up the microphone with dark blue padding and give it to the other.",
+    "Hold the microphone with dark blue padding and pass it to the other hand.",
+    "Lift the microphone covered with foam tip and hand it over to the other arm.",
+    "Hold the microphone with smooth gray stem securely and shift it to another arm.",
+    "Grip the medium microphone with two-tone color and pass it to the other side",
+    "Grab the microphone with smooth gray stem and smoothly give it to the other arm.",
+    "Pick the medium microphone with two-tone color from the surface and switch hands.",
+    "Use the left arm to hold the microphone covered with foam tip, then give it to the right arm.",
+    "Grab the microphone with round foam head and transfer it to another hand",
+    "Pick up the microphone covered with foam tip and move it to the opposite side",
+    "Pick the microphone with dark blue padding and transfer it to the other arm.",
+    "Grab the microphone for recording sound and give it to the opposite 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.",
+    "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.",
+    "Lift the microphone with round foam head and hand it over to the other side.",
+    "Pick up the microphone covered with foam tip and hand it to the other side.",
+    "Lift the gray stem microphone with foam top, then pass it across without delay.",
+    "Grasp the microphone with smooth gray stem and switch 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 grab the audio microphone with soft covering and transfer it to the right arm.",
+    "Hold the audio microphone with soft covering with one hand and transfer it",
+    "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.",
+    "Hold the dark blue microphone and shift it to the other arm.",
+    "Secure the microphone for recording sound using one arm and transfer it.",
+    "Lift the small audio microphone using the left arm and pass it to the right arm.",
+    "Use one hand to grab the microphone for recording sound and pass it.",
+    "Take the dark blue microphone and move it to another hand.",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Hold the microphone with dark blue padding and deliver it to another side.",
+    "Grasp the dark blue microphone, transfer it, then let go of it smoothly.",
+    "Lift the gray and dark blue microphone and pass it across.",
+    "Hold the microphone with dark blue padding firmly and pass it to the other arm.",
+    "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",
+    "Grasp the microphone for recording sound, then give it to the other arm.",
+    "Pick up the microphone for recording sound, pass it to the other arm, and release.",
+    "Reach for the round head microphone and move it to the other hand.",
+    "Take the dark blue microphone, 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 dark blue padding 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 microphone with dark blue padding and hand it to someone else.",
+    "Take the small audio microphone and pass it to another hand",
+    "Use one arm to pick up the microphone covered with foam tip and give it to the other.",
+    "Hold the gray and dark blue microphone and pass it to the other hand.",
+    "Lift the gray and dark blue microphone and hand it over to the other arm.",
+    "Hold the dark blue microphone securely and shift it to another arm.",
+    "Grip the round head microphone and pass it to the other side",
+    "Grab the round head microphone and smoothly give it to the other arm.",
+    "Pick the round head microphone from the surface and switch hands.",
+    "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Pick up the medium microphone with two-tone color and move it to the opposite side",
+    "Pick the microphone with dark blue padding and transfer 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 deliver it to the other side.",
+    "Pick up the microphone with smooth gray stem and transfer it to the opposite side.",
+    "Take the microphone for recording sound and move it to the other hand.",
+    "Grasp the gray and dark blue microphone and shift it to the opposite hand.",
+    "Lift the microphone with smooth gray stem and hand it over to the other side."
+  ],
+  "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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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 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 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode157.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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.",
+    "Take the smooth plastic microphone handle, pass it, and release it to complete the task.",
+    "Use one hand to grab the smooth plastic microphone handle and pass it.",
+    "Lift the microphone with textured metal head and hand it over to the other arm.",
+    "Grab the microphone with cylindrical handle and smoothly give it to the other arm.",
+    "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.",
+    "Take the compact size microphone 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.",
+    "Grasp the mesh-patterned microphone head and shift it to the opposite hand.",
+    "Grab the handheld microphone and transfer it to another hand",
+    "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.",
+    "Secure the microphone for voice recording from the table and transfer it.",
+    "Pick up the mesh-patterned microphone head and transfer it to the opposite side.",
+    "Hold the handheld microphone with the right arm and give it to the left arm.",
+    "Pick up the metal head microphone and hand it to the other side.",
+    "Hold the mesh-patterned microphone head firmly and pass it to the other arm.",
+    "Grip the metal head microphone and pass it to the other side",
+    "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 to the other side easily.",
+    "Lift the microphone for voice recording and hand it to someone else.",
+    "Hold the white microphone handle black accents and shift it 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 black tip and white body and pass it across.",
+    "Take the mesh-patterned microphone head and move it to the other hand.",
+    "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.",
+    "Take the white microphone handle black accents and move it to another hand.",
+    "Grasp the black and white microphone and pass it across.",
+    "Lift the white microphone handle black accents and deliver it to the other side.",
+    "Reach for the microphone with cylindrical handle and move it to the other hand.",
+    "Secure the black and white microphone using one arm and transfer it.",
+    "Lift the compact size microphone and hand it over to the other side.",
+    "Pick the smooth plastic microphone handle and transfer it to the other arm.",
+    "Lift the metal head microphone, then pass it across without delay.",
+    "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.",
+    "Pick up the compact size microphone, pass it to the other arm, and release.",
+    "Pick up the microphone with textured metal head and move it to the opposite side",
+    "Seize the black and white microphone and offer it to the other arm",
+    "Take the handheld microphone and pass it to another hand",
+    "Grab the handheld microphone 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.",
+    "Hold the microphone with cylindrical handle with one hand and transfer it",
+    "Grasp the mesh-patterned microphone head, then give it to the other arm.",
+    "Grasp the handheld microphone 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.",
+    "Take the microphone with rounded mesh head, pass it, and release it to complete the task.",
+    "Use one hand to grab the microphone with cylindrical handle and pass it.",
+    "Lift the microphone for voice recording and hand it over to the other arm.",
+    "Grab the microphone with cylindrical handle and smoothly give it to the other arm.",
+    "Hold the microphone with rounded mesh head securely and shift it to another arm.",
+    "Pick the microphone with black tip and white body from the surface and switch hands.",
+    "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.",
+    "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",
+    "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.",
+    "Secure the mesh-patterned microphone head from the table and transfer it.",
+    "Pick up the black and white microphone and transfer it to the opposite side.",
+    "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.",
+    "Pick up the microphone with textured metal head and hand it to the other side.",
+    "Hold the microphone with black tip and white body firmly and pass it to the other arm.",
+    "Grip the white microphone handle black accents and pass it to the other side",
+    "Lift the microphone for voice recording using the right arm and pass 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 to someone else.",
+    "Hold the handheld 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.",
+    "Lift the microphone with rounded mesh head and pass it across.",
+    "Take the mesh-patterned microphone head and move it to the other hand.",
+    "Hold the compact size microphone and pass it to the other hand.",
+    "Hold the microphone with black tip and white body and deliver it to another side.",
+    "Take the microphone with textured metal head and move it to another hand.",
+    "Grasp the black and white microphone and pass it across.",
+    "Lift the microphone with textured metal head and deliver it to the other side.",
+    "Reach for the microphone for voice recording and move it to the other hand.",
+    "Secure the compact size microphone using one arm and transfer it.",
+    "Lift the white microphone handle black accents and hand it over to the other side.",
+    "Pick the black and white microphone and transfer it to the other arm.",
+    "Lift the metal head microphone, then pass it across without delay.",
+    "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.",
+    "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.",
+    "Pick up the microphone for voice recording and move it to the opposite side",
+    "Seize the smooth plastic microphone handle and offer it to the other arm",
+    "Take the compact size microphone and pass it to another hand",
+    "Grab the microphone for voice recording and give it to the opposite arm.",
+    "Take the microphone for voice recording, shift it, and release it to the other side.",
+    "Hold the microphone with black tip and white body with one hand and transfer it",
+    "Grasp the metal head microphone, then give it to the other arm.",
+    "Grasp the white microphone handle black accents and switch it to another hand.",
+    "Use the right arm to grab the handheld microphone and transfer it to the left arm.",
+    "Take the black and white microphone, pass it, and release it to complete the task.",
+    "Use one hand to grab the smooth plastic microphone handle and pass it.",
+    "Lift the metal head microphone and hand it over to the other arm.",
+    "Grab the metal head microphone and smoothly give it to the other arm.",
+    "Hold the microphone with rounded mesh head securely and shift it to another arm.",
+    "Pick the metal head microphone from the surface and switch hands.",
+    "Take the smooth plastic microphone handle using the right arm and transfer it to the left arm.",
+    "Use one arm to pick up the metal head microphone and give it to the other."
+  ],
+  "unseen": [
+    "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 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 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 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 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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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 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 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",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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 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.",
+    "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.",
+    "Grab the black and white plastic microphone from the table and pass it across."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode158.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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",
+    "Lift the round head microphone and hand it to the other side easily.",
+    "Hold the small audio microphone and pass it to the other hand.",
+    "Hold the dark blue microphone with one hand and transfer it",
+    "Lift the microphone for recording sound, then pass it across without delay.",
+    "Pick up the microphone for recording sound and transfer it to the opposite side.",
+    "Hold the microphone for recording sound firmly and pass it to the other arm.",
+    "Lift the microphone with smooth gray stem and hand it over to the other arm.",
+    "Hold the microphone with round foam head and deliver it to another side.",
+    "Secure the microphone with dark blue padding 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.",
+    "Pick the microphone with dark blue padding and transfer it to the other arm.",
+    "Hold the gray stem microphone with foam top securely and shift it to another arm.",
+    "Use the left arm to grab the round head microphone and transfer it to the right arm.",
+    "Lift the microphone covered with foam tip and deliver it to the other side.",
+    "Take the gray and 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.",
+    "Secure the gray and dark blue microphone from the table and transfer it.",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "Grasp the microphone for recording sound and pass it across.",
+    "Use the left arm to hold the microphone for recording sound, then give it to the right arm.",
+    "Pick up the gray and dark blue microphone and move it to the opposite side",
+    "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.",
+    "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.",
+    "Grip the microphone for recording sound and pass it to the other side",
+    "Lift the medium microphone with two-tone color and hand it over to the other side.",
+    "Grasp the microphone with round foam head and shift it to the opposite hand.",
+    "Reach for the microphone covered with foam tip and move it to the other hand.",
+    "Take the dark blue microphone and move it to another hand.",
+    "Pick up the microphone with smooth gray stem and hand it to the other side.",
+    "Hold the small audio microphone with the left arm and 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.",
+    "Take the medium microphone with two-tone color and pass it to another hand",
+    "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.",
+    "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Lift the dark blue microphone and pass it across.",
+    "Take the microphone with round foam head using the left arm and transfer it to the right arm.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Pick the gray and dark blue microphone from the surface and switch hands.",
+    "Grasp the dark blue microphone, then give it to the other arm.",
+    "Take the small audio microphone, pass it, and release it to complete the task.",
+    "Seize the gray and 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 microphone with round foam head and pass it to the other hand.",
+    "Hold the medium microphone with two-tone color with one hand and transfer it",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Pick up the microphone with round foam head and transfer it to the opposite side.",
+    "Hold the small audio microphone firmly and pass it to the other arm.",
+    "Lift the microphone covered with foam tip and hand it over to the other arm.",
+    "Hold the dark blue microphone and deliver it to another side.",
+    "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.",
+    "Pick the microphone with smooth gray stem and transfer it to the other arm.",
+    "Hold the audio microphone with soft covering securely and shift it to another arm.",
+    "Use the left arm to grab the audio microphone with soft covering and transfer it to the right arm.",
+    "Lift the gray stem microphone with foam top and deliver it to the other side.",
+    "Take the small audio microphone and move it to the other hand.",
+    "Take the gray stem microphone with foam top, shift it, and release it to the other side.",
+    "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.",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.",
+    "Pick up the medium microphone with two-tone color and move it to the opposite side",
+    "Grab the dark blue microphone and smoothly give it to the other arm.",
+    "Grab the audio microphone with soft covering and give it to the opposite arm.",
+    "Grasp the microphone covered with foam tip and switch it to another hand.",
+    "Use one hand to grab the microphone with smooth gray stem and pass it.",
+    "Grip the gray and dark blue microphone and pass it to the other side",
+    "Lift the gray and dark blue microphone and hand it over to the other side.",
+    "Grasp the round head microphone and shift it to the opposite hand.",
+    "Reach for the microphone with dark blue padding and move it to the other hand.",
+    "Take the round head microphone and move it to another hand.",
+    "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 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.",
+    "Take the microphone covered with foam tip and pass it to another hand",
+    "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.",
+    "Hold the small audio microphone and shift it to the other arm.",
+    "Pick up the microphone with round foam head, 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 microphone with dark blue padding and pass it across.",
+    "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Pick the gray stem microphone with foam top from the surface and switch hands.",
+    "Grasp the gray stem microphone with foam top, then give it to the other arm.",
+    "Take the microphone for recording sound, pass it, and release it to complete the task.",
+    "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.",
+    "Hold the audio microphone with soft covering with one hand and transfer it",
+    "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.",
+    "Hold the round head microphone firmly and pass it to the other arm.",
+    "Lift the audio microphone with soft covering and hand it over to the other arm.",
+    "Hold the microphone covered with foam tip and deliver it to another side."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 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 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 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 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.",
+    "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 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 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 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.",
+    "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 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.",
+    "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 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 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",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the handheld microphone and pass it to the other side",
+    "Hold the microphone with cylindrical handle securely and shift it to another arm.",
+    "Hold the compact size microphone with one hand and transfer it",
+    "Take the compact size microphone and pass it to another hand",
+    "Lift the white microphone handle black accents, then pass it across without delay.",
+    "Hold the smooth plastic microphone handle and pass it to the other hand.",
+    "Grasp the microphone with rounded mesh head and switch it to another hand.",
+    "Reach for the white microphone handle black accents and move it to the other hand.",
+    "Pick up the white microphone handle black accents and move it to the opposite 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.",
+    "Secure the microphone with black tip and white body using one arm and transfer it.",
+    "Use one hand to grab the microphone with rounded mesh head and pass it.",
+    "Hold the microphone with black tip and white body and deliver it to another side.",
+    "Lift the handheld microphone and deliver it to the other side.",
+    "Pick the smooth plastic microphone handle from the surface and switch hands.",
+    "Take the microphone for voice recording and move 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 white microphone handle black accents and hand it over to the other side.",
+    "Grab the mesh-patterned microphone head and give it to the opposite arm.",
+    "Lift the microphone with textured metal head and pass it across.",
+    "Pick up the microphone with textured metal head 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.",
+    "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.",
+    "Take the black and white microphone 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.",
+    "Grab the metal head microphone and transfer it to another hand",
+    "Hold the smooth plastic microphone handle firmly and pass it to the other arm.",
+    "Grasp the microphone with rounded mesh head, then give it to the other arm.",
+    "Secure the microphone for voice recording from the table and transfer it.",
+    "Hold the microphone with textured metal head and shift it to the other arm.",
+    "Take the compact size microphone, shift it, and release it to the other side.",
+    "Lift the black and white microphone and hand it to someone else.",
+    "Pick up the black and white microphone, pass it to the other arm, and release.",
+    "Take the metal head microphone using the right arm and transfer it to the left arm.",
+    "Lift the smooth plastic microphone handle and hand it over to the other arm.",
+    "Grasp the microphone with black tip and white body 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.",
+    "Pick the mesh-patterned microphone head and transfer it to the other arm.",
+    "Seize the white microphone handle black accents and offer it to the other arm",
+    "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.",
+    "Pick up the black and white microphone and transfer it to the opposite side.",
+    "Grasp the compact size microphone and pass it across.",
+    "Lift the microphone with rounded mesh head and hand it to the other side easily.",
+    "Grab the white microphone handle black accents and smoothly give it to the other arm.",
+    "Grip the smooth plastic microphone handle and pass it to the other side",
+    "Hold the mesh-patterned microphone head securely and shift it to another arm.",
+    "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 for voice recording, then pass it across without delay.",
+    "Hold the smooth plastic microphone handle and pass it to the other hand.",
+    "Grasp the black and white microphone and switch it to another hand.",
+    "Reach for the smooth plastic microphone handle and move it to the other hand.",
+    "Pick up the compact size microphone and move it to the opposite side",
+    "Take the compact size microphone, pass it, and release it to complete the task.",
+    "Use the right arm to grab the metal head microphone and transfer it to the left arm.",
+    "Secure the metal head microphone using one arm and transfer it.",
+    "Use one hand to grab the black and white microphone and pass it.",
+    "Hold the black and white microphone and deliver it to another side.",
+    "Lift the black and white microphone and deliver it to the other side.",
+    "Pick the smooth plastic microphone handle from the surface and switch hands.",
+    "Take the black and white microphone and move 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 side.",
+    "Grab the smooth plastic microphone handle and give it to the opposite arm.",
+    "Lift the microphone with rounded mesh head and pass it across.",
+    "Pick up the metal head 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.",
+    "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.",
+    "Take the compact size microphone and move it to the other hand.",
+    "Use one arm to pick up the white microphone handle black accents and give it to the other.",
+    "Grab the white microphone handle black accents and transfer it to another hand",
+    "Hold the mesh-patterned microphone head firmly and pass it to the other arm.",
+    "Grasp the metal head microphone, then give it to the other arm.",
+    "Secure the metal head microphone from the table and transfer it.",
+    "Hold the compact size microphone and shift it to the other arm.",
+    "Take the microphone with cylindrical handle, shift it, and release it to the other side.",
+    "Lift the black and white microphone and hand it to someone else.",
+    "Pick up the handheld microphone, pass it to the other arm, and release.",
+    "Take the microphone for voice recording 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 white microphone handle black accents and shift it to the opposite hand.",
+    "Grab the compact size microphone 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.",
+    "Seize the black and white microphone and offer it to the other arm",
+    "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.",
+    "Pick up the microphone for voice recording and transfer it to the opposite side.",
+    "Grasp the black and white microphone and pass it across.",
+    "Lift the microphone for voice recording and hand it to the other side easily.",
+    "Grab the microphone with rounded mesh head and smoothly give it to the other arm.",
+    "Grip the white microphone handle black accents and pass it to the other side",
+    "Hold the microphone with black tip and white body securely and shift it to another arm.",
+    "Hold the microphone for voice recording with one hand and transfer it",
+    "Take the microphone for voice recording and pass it to another hand",
+    "Lift the microphone with rounded mesh head, then pass it across without delay.",
+    "Hold the compact size microphone and pass it to the other hand.",
+    "Grasp the white microphone handle black accents and switch it to another hand.",
+    "Reach for the handheld microphone and move it to the other hand.",
+    "Pick up the smooth plastic microphone handle and move it to the opposite side",
+    "Take the metal head microphone, pass it, and release it to complete the task."
+  ],
+  "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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",
+    "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 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 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 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",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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."
+  ]
+}

handover_mic/ur5_randomized_500/instructions/episode161.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the dark blue microphone and transfer it to another hand",
+    "Take the audio microphone with soft covering and move it to another hand.",
+    "Pick up the audio microphone with soft covering, pass it to the other arm, and release.",
+    "Take the dark blue microphone, pass it, and release it to complete the task.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.",
+    "Lift the microphone covered with foam tip and hand it to the other side easily.",
+    "Secure the medium microphone with two-tone color from the table and transfer it.",
+    "Hold the microphone with dark blue padding and deliver it to another side.",
+    "Hold the audio microphone with soft covering firmly and pass it to the other arm.",
+    "Hold the small audio microphone with one hand and transfer it",
+    "Hold the gray stem microphone with foam top and pass it to the other hand.",
+    "Hold the gray and dark blue microphone securely and shift it to another arm.",
+    "Use the right arm to grab the gray stem microphone with foam top 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.",
+    "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.",
+    "Grip the small audio microphone and pass it to the other side",
+    "Secure the audio microphone with soft covering using one arm and transfer it.",
+    "Grasp the small audio microphone and shift it to the opposite hand.",
+    "Use one arm to pick up the dark blue microphone and give it to the other.",
+    "Grasp the small audio microphone, then give it to the other arm.",
+    "Lift the microphone for recording sound and deliver it to the other side.",
+    "Lift the 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",
+    "Reach for the round head microphone and move it to the other hand.",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Lift the small audio microphone, then pass it across without delay.",
+    "Grab the round head microphone and give it to the opposite arm.",
+    "Grasp the gray and dark blue microphone and pass it across.",
+    "Take the round head 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.",
+    "Lift the small audio microphone using the right arm and pass it to the left arm.",
+    "Pick the audio microphone with soft covering from the surface and switch hands.",
+    "Take the gray stem microphone with foam top and pass it to another hand",
+    "Grab the microphone with round foam head and smoothly give it to the other arm.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Lift the dark blue microphone and pass it across.",
+    "Pick up the small audio microphone and move it to the opposite side",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "Take the round head microphone and move it to the other hand.",
+    "Take the gray stem microphone with foam top, shift it, and release it to the other side.",
+    "Pick up the gray and dark blue microphone and hand it to the other 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.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Take the small audio microphone and move it to another hand.",
+    "Pick up the gray and dark blue 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 with dark blue padding and hand it over to the other arm.",
+    "Grasp the small audio microphone, transfer it, then let go of it smoothly.",
+    "Lift the round head microphone and hand it to the other side easily.",
+    "Secure the microphone covered with foam tip from the table and transfer it.",
+    "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.",
+    "Hold the gray stem microphone with foam top with one hand and transfer it",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Hold the microphone with smooth gray stem 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.",
+    "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.",
+    "Grab the round head microphone using the right arm and pass it over to the left arm.",
+    "Hold the audio microphone with soft covering and shift it to the other arm.",
+    "Grip the microphone covered with foam tip and pass it to the other side",
+    "Secure the small audio microphone using one arm and transfer it.",
+    "Grasp the microphone covered with foam tip 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.",
+    "Grasp the medium microphone with two-tone color, then give it to the other arm.",
+    "Lift the microphone covered with foam tip and deliver it to the other side.",
+    "Lift the dark blue microphone and hand it over to the other side.",
+    "Seize the gray and dark blue microphone and offer 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 covered with foam tip and pass it.",
+    "Lift the microphone covered with foam tip, then pass it across without delay.",
+    "Grab the microphone with smooth gray stem and give it to the opposite arm.",
+    "Grasp the round head microphone 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 microphone with round foam head and transfer it to the opposite side.",
+    "Lift the gray and dark blue microphone using the right arm and pass it to the left arm.",
+    "Pick the small audio microphone from the surface and switch hands.",
+    "Take the microphone with dark blue padding and pass it to another hand",
+    "Grab the microphone with round foam head and smoothly give it to the other arm.",
+    "Pick the small audio microphone and transfer it to the other arm.",
+    "Lift the round head microphone and pass it across.",
+    "Pick up the microphone covered with foam tip 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 and move it to the other hand.",
+    "Take the dark blue microphone, shift it, and release it to the other side.",
+    "Pick up the gray and dark blue microphone and hand it to the other side.",
+    "Grasp the gray stem microphone with foam top 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 and dark blue microphone and transfer it to another hand",
+    "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.",
+    "Take the audio microphone with soft covering, pass it, and release it to complete the task.",
+    "Lift the microphone with smooth gray stem and hand it over to the other arm.",
+    "Grasp the round head microphone, transfer it, then let go of it smoothly.",
+    "Lift the audio microphone with soft covering and hand it to the other side easily.",
+    "Secure the microphone with smooth gray stem from the table and transfer it.",
+    "Hold the microphone with dark blue padding and deliver it to another side.",
+    "Hold the audio microphone with soft covering firmly and pass it to the other arm."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 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",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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 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 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 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 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.",
+    "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 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.",
+    "Take hold of the compact microphone with two parts and hand it over."
+  ]
+}