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hanging_mug/aloha-agilex_clean_50/seed.txt

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hanging_mug/aloha-agilex_randomized_500/seed.txt

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hanging_mug/arx-x5_clean_50/instructions/episode11.json

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

hanging_mug/arx-x5_clean_50/instructions/episode21.json

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

hanging_mug/arx-x5_clean_50/instructions/episode25.json

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

hanging_mug/arx-x5_clean_50/instructions/episode26.json

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

hanging_mug/arx-x5_clean_50/instructions/episode27.json

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

hanging_mug/arx-x5_clean_50/instructions/episode29.json

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

hanging_mug/arx-x5_clean_50/instructions/episode36.json

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

hanging_mug/arx-x5_clean_50/instructions/episode45.json

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

hanging_mug/arx-x5_clean_50/instructions/episode46.json

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

hanging_mug/arx-x5_clean_50/instructions/episode9.json

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

hanging_mug/arx-x5_clean_50/seed.txt

@@ -0,0 +1 @@
+0 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 21 22 23 24 25 26 27 29 30 31 32 33 35 37 39 40 41 43 44 45 46 47 48 49 51 52 53 54 55 56 58 59 

hanging_mug/arx-x5_randomized_500/seed.txt

@@ -0,0 +1 @@
+1 6 8 10 11 14 16 17 24 25 27 32 33 35 36 37 39 41 44 46 49 50 52 54 59 62 64 66 67 68 72 74 76 77 78 79 82 88 89 90 92 94 98 99 100 101 102 103 104 105 106 108 109 111 113 115 120 122 126 127 128 129 131 133 135 137 140 141 142 143 145 146 147 149 152 153 155 156 157 159 160 161 164 169 170 172 173 177 179 181 184 185 187 189 192 193 194 195 199 200 201 202 205 206 208 211 213 216 217 218 219 220 222 225 227 229 230 232 233 234 236 237 238 239 240 241 245 246 247 248 251 252 253 254 256 258 263 265 266 268 269 272 273 277 279 280 282 290 291 296 298 300 302 303 305 306 307 309 310 311 314 322 326 327 328 329 330 334 335 338 339 342 344 345 346 347 349 350 351 354 355 357 358 365 368 370 372 375 378 380 382 386 387 388 389 394 395 397 398 404 406 408 409 411 412 413 418 419 428 429 431 434 435 436 437 438 439 440 441 442 443 444 445 447 448 449 450 452 453 454 455 456 457 458 460 461 463 466 468 469 470 471 472 473 478 479 480 481 482 483 484 485 489 493 495 496 497 498 499 500 501 504 506 508 509 512 513 517 521 522 525 526 527 528 531 532 533 534 536 539 541 544 546 547 549 554 555 556 557 559 561 563 565 566 567 569 570 571 572 574 576 578 580 584 586 587 590 592 593 594 596 597 599 600 601 602 607 615 619 620 622 623 625 626 627 629 630 631 633 634 637 641 642 643 644 645 646 647 648 653 657 660 661 663 664 667 669 670 671 672 674 676 677 678 680 688 689 691 693 696 698 700 703 704 711 712 713 714 716 718 719 720 721 723 725 726 727 728 731 738 739 740 741 743 745 748 749 750 751 755 757 758 759 761 762 765 767 770 773 774 775 776 778 780 786 790 792 795 797 798 802 806 808 810 812 814 815 818 820 821 822 823 824 826 827 829 833 834 835 839 840 841 842 845 848 850 855 860 861 865 866 868 869 870 873 877 881 882 886 887 888 889 892 895 896 897 898 899 900 902 903 905 906 907 913 916 919 921 924 925 929 931 933 934 945 948 950 953 956 958 960 962 963 965 966 967 968 970 971 973 976 977 980 984 987 991 992 994 995 996 

hanging_mug/franka_clean_50/seed.txt

@@ -0,0 +1 @@
+3 4 9 34 40 43 55 69 71 77 111 133 141 148 180 190 194 200 204 210 214 249 256 264 277 283 307 331 342 379 392 400 407 409 448 449 463 466 510 532 545 553 568 577 584 605 608 613 618 620 

hanging_mug/franka_randomized_500/seed.txt

@@ -0,0 +1 @@
+49 64 78 113 115 190 194 217 220 238 265 277 298 329 352 376 428 440 443 479 504 517 522 570 627 703 797 814 830 898 927 1017 1069 1081 1101 1107 1109 1120 1157 1176 1185 1255 1304 1373 1394 1405 1453 1458 1461 1483 1523 1582 1595 1597 1605 1654 1656 1693 1727 1730 1753 1755 1784 1884 2071 2094 2165 2172 2202 2203 2248 2263 2276 2315 2365 2390 2396 2399 2415 2417 2437 2468 2472 2508 2541 2542 2547 2548 2572 2609 2668 2685 2693 2724 2743 2764 2767 2786 2814 2836 2845 2858 2885 2899 2907 2992 3021 3072 3102 3113 3137 3164 3223 3231 3259 3270 3305 3322 3328 3363 3403 3415 3421 3450 3457 3478 3528 3542 3549 3623 3624 3652 3657 3669 3673 3678 3687 3715 3731 3749 3754 3776 3925 3966 3977 3981 3993 4004 4009 4029 4044 4078 4081 4108 4125 4193 4325 4339 4340 4349 4354 4424 4461 4465 4466 4484 4488 4490 4533 4542 4562 4567 4582 4583 4621 4642 4647 4678 4701 4748 4775 4776 4819 4821 4837 4851 4903 4937 4975 5007 5009 5012 5038 5048 5106 5111 5140 5168 5187 5238 5310 5312 5325 5359 5394 5408 5431 5482 5485 5549 5569 5575 5594 5627 5635 5646 5680 5715 5735 5753 5791 5814 5817 5823 5848 5863 5906 5933 6073 6074 6114 6177 6183 6186 6230 6244 6280 6282 6290 6296 6303 6432 6459 6474 6629 6706 6739 6745 6760 6770 6802 6806 6816 6859 6909 6953 6970 7004 7015 7041 7099 7115 7116 7179 7182 7204 7227 7244 7255 7279 7297 7349 7350 7355 7369 7374 7382 7401 7428 7450 7460 7470 7475 7487 7530 7535 7599 7622 7625 7630 7637 7701 7760 7764 7779 7812 7826 7829 7888 7910 7940 7947 7952 7998 8005 8010 8013 8016 8020 8056 8126 8139 8140 8145 8146 8239 8248 8258 8301 8325 8357 8362 8366 8376 8453 8509 8524 8542 8582 8619 8624 8672 8710 8717 8746 8819 8883 8888 8910 8918 8920 8944 8957 8963 9036 9058 9068 9083 9107 9199 9210 9218 9226 9240 9254 9320 9330 9338 9370 9396 9412 9418 9445 9460 9484 9494 9514 9572 9614 9627 9651 9655 9681 9704 9708 9721 9726 9800 9803 9829 9845 9890 9906 9916 9941 10027 10033 10041 10052 10101 10162 10171 10178 10181 10218 10252 10257 10294 10309 10358 10383 10394 10442 10517 10535 10580 10595 10650 10680 10700 10706 10717 10731 10741 10745 10763 10766 10770 10807 10848 10892 10930 10938 10940 11257 11296 11300 11330 11333 11406 11411 11493 11508 11522 11537 11551 11587 11642 11708 11727 11728 11732 11738 11774 11778 11833 11841 11871 11904 11928 11944 11945 11972 12031 12118 12124 12130 12158 12174 12233 12293 12349 12366 12387 12412 12443 12460 12495 12562 12615 12664 12683 12690 12694 12700 12752 12766 12790 12791 12812 12816 12818 12821 12826 12874 12879 12898 12907 12920 12955 13056 13076 13079 13111 13190 13196 13333 13417 13433 13503 

hanging_mug/ur5_clean_50/seed.txt

@@ -0,0 +1 @@
+23 31 35 42 46 70 82 100 105 113 126 127 133 156 157 184 196 203 208 212 213 225 236 245 255 256 259 275 277 286 290 305 314 319 329 353 354 355 366 371 372 380 386 396 405 412 421 427 450 452 

hanging_mug/ur5_randomized_500/seed.txt

@@ -0,0 +1 @@
+6 49 62 101 126 127 131 133 134 135 172 183 186 198 219 223 226 228 229 239 240 254 261 265 275 310 351 359 375 376 387 427 438 441 444 473 474 502 550 567 582 584 585 594 608 625 649 686 712 718 721 734 748 750 786 821 825 831 832 833 839 850 875 886 895 913 918 958 964 975 992 994 1015 1019 1026 1042 1048 1051 1058 1078 1102 1109 1125 1141 1155 1164 1179 1196 1213 1216 1221 1227 1235 1241 1256 1308 1310 1341 1342 1350 1366 1370 1375 1382 1389 1405 1436 1441 1442 1457 1460 1468 1483 1484 1485 1501 1503 1506 1508 1510 1511 1525 1526 1527 1540 1563 1581 1605 1620 1623 1656 1661 1669 1671 1677 1726 1731 1732 1736 1750 1812 1821 1831 1857 1899 1905 1916 1927 1979 1988 1993 2004 2014 2055 2064 2103 2104 2118 2137 2179 2184 2185 2186 2217 2218 2223 2224 2234 2253 2261 2276 2289 2297 2307 2308 2324 2336 2337 2426 2465 2469 2471 2481 2498 2509 2512 2537 2542 2561 2565 2577 2580 2582 2599 2600 2609 2612 2670 2671 2675 2677 2712 2757 2770 2840 2843 2845 2858 2862 2876 2877 2879 2881 2886 2895 2899 2905 2915 2924 2938 2960 3001 3004 3021 3053 3065 3102 3109 3122 3208 3215 3226 3257 3258 3310 3322 3330 3349 3367 3377 3393 3457 3458 3460 3464 3484 3495 3509 3517 3539 3540 3542 3558 3560 3571 3573 3582 3583 3600 3619 3629 3636 3681 3693 3698 3710 3714 3718 3720 3787 3788 3817 3838 3881 3905 3909 3916 3920 3944 3956 3994 4038 4048 4055 4079 4080 4104 4135 4154 4185 4207 4220 4230 4231 4250 4269 4270 4297 4308 4314 4315 4340 4349 4383 4402 4417 4419 4421 4424 4441 4445 4479 4482 4484 4491 4508 4515 4544 4559 4576 4612 4717 4725 4731 4733 4751 4762 4783 4786 4804 4824 4830 4873 4909 4911 4912 4950 4953 4954 4966 4998 5029 5043 5047 5053 5064 5075 5081 5096 5110 5168 5171 5191 5215 5224 5225 5232 5235 5244 5260 5347 5353 5392 5412 5453 5460 5467 5471 5481 5484 5503 5507 5560 5590 5606 5617 5618 5621 5628 5637 5658 5679 5684 5698 5713 5729 5745 5752 5753 5797 5819 5820 5833 5837 5864 5865 5866 5867 5868 5887 5917 5931 5933 5962 5969 5978 5996 5999 6024 6038 6075 6085 6086 6090 6102 6107 6122 6136 6145 6207 6213 6224 6244 6247 6255 6276 6282 6285 6288 6303 6307 6314 6367 6372 6379 6418 6430 6432 6440 6441 6462 6466 6475 6485 6507 6538 6539 6550 6558 6571 6590 6620 6641 6654 6665 6669 6678 6707 6708 6719 6724 6725 6726 6727 6739 6748 6767 6788 6811 6833 6843 6856 6863 6875 6881 6933 6944 6950 6955 6956 6989 6993 7000 7002 7024 7047 7054 7060 7061 7063 7066 7067 7094 7111 7115 7126 7144 7179 7183 7221 

place_dual_shoes/arx-x5_randomized_500/instructions/episode231.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arms to lift two the medium red shoe, tips left, and set in the smooth bright orange box.",
+    "Set two the red shoe rounded at front in the orange shoe-box with tips left.",
+    "Place two the footwear with red top white sole in the orange Nike shoe-box with logo, tip left when set.",
+    "Arrange the two the medium red shoe, tips left, inside the rectangular shoe-box with orange lid.",
+    "Move two the sports shoe, tip ends left, and set them in the orange shoe-box.",
+    "Pick up two the grooved sole red shoe, tips left, and set them in the orange shoe-box.",
+    "Move two the smooth-textured red shoe into the rectangular orange shoe-box, ensure tips point left.",
+    "Ensure two the sports shoe are in the orange cardboard shoe-box, tips facing left.",
+    "Transfer two the shoe with flat rubber sole, tips left-aligned, into the rectangular orange shoe-box.",
+    "Use both arms to place two the smooth-textured red shoe into the medium orange box with smooth surface, tips left.",
+    "Grab and place two the medium red shoe in the orange Nike shoe-box with logo, tips left.",
+    "Put two the red shoe with white sole into the medium-sized box with Nike swoosh, shoe tips left.",
+    "Collect two the shoe with flat rubber sole, tips facing left, and put in the smooth bright orange box.",
+    "Place two the red shoe with white sole into the Nike-branded orange shoe-box, ensure shoe tips face left.",
+    "Grab a pair of the footwear with red top white sole, tips left, put them into the shoe-box with Nike printed logo.",
+    "Pick up two the red shoe with white sole, tips left, drop them into the bright orange shoe-box.",
+    "With both arms, move two the smooth-textured red shoe into the smooth bright orange box, tips facing left.",
+    "Handle two the shoe with flat rubber sole, tips directed left, and drop them into the rectangular shoe-box with orange lid.",
+    "Pick up two the sports shoe and set them in the shoe-box with Nike printed logo, tips left.",
+    "Lift two the footwear with red top white sole, ensure left tips, drop in the smooth bright orange box.",
+    "Make sure tips point left, then place the red shoe with white sole in the medium-sized box with Nike swoosh.",
+    "Pick two the shoe with flat rubber sole, ensure tips facing left, and position in the medium-sized box with Nike swoosh.",
+    "Place two the white bottom sports shoe inside the orange shoe-box, make tips face left.",
+    "Use both arms to set two the smooth-textured red shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Move a pair of the footwear with red top white sole into the orange shoe-box, left tips first.",
+    "Hold two the sports shoe, tips left, and place in the rectangular orange shoe-box.",
+    "Set two the shoe with flat rubber sole in the the smooth bright orange box, tips pointing left.",
+    "Position two the footwear with red top white sole into the smooth orange box for shoes, shoe tips leftward.",
+    "Put two the white bottom sports shoe in the orange cardboard shoe-box with tips facing left.",
+    "Retrieve two the footwear with red top white sole, orienting tips left, and place in the smooth orange box for shoes.",
+    "Lift two the medium red shoe, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Grab two the red sneaker, tip left, place them in the orange cardboard shoe-box.",
+    "Grasp two the medium red shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Stick both the red sneaker in the orange cardboard shoe-box, shoe tips pointing left.",
+    "Pick up two the red sneaker together and place in the orange shoe-box, tips left.",
+    "Grab two the lace-up red sports shoe, tips left, place them carefully in the orange cardboard shoe-box.",
+    "Slide both the medium red shoe into the medium orange box with smooth surface with tips pointing left.",
+    "Put two the red sneaker, tips to the left, into the orange Nike shoe-box with logo.",
+    "Grab both the grooved sole red shoe and put them into the orange cardboard shoe-box, tips left.",
+    "Set two the white bottom sports shoe into the the smooth bright orange box, align tips to the left.",
+    "Grab both the sports shoe, ensure tips left, place in the smooth bright orange box.",
+    "Drop a pair of the single red shoe into the medium-sized box with Nike swoosh, tips align left.",
+    "Use hands to grab two the red sneaker, tips left, drop into the orange shoe-box.",
+    "Hold two the red shoe rounded at front, drop them in the orange shoe-box, tips pointing left.",
+    "Take two the smooth-textured red shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Place two the footwear with red top white sole tips leftward into the the orange shoe-box.",
+    "Lift and put two the lace-up red sports shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Lay down two the footwear with red top white sole in the medium orange box with smooth surface, tips oriented left.",
+    "Use arms to lift two the footwear with red top white sole, tips left, and set in the bright orange shoe-box.",
+    "Set two the white bottom sports shoe in the medium orange box with smooth surface with tips left.",
+    "Place two the sports shoe in the shoe-box with Nike printed logo, tip left when set.",
+    "Arrange the two the smooth-textured red shoe, tips left, inside the orange cardboard shoe-box.",
+    "Move two the red shoe rounded at front, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Pick up two the single red shoe, tips left, and set them in the orange cardboard shoe-box.",
+    "Move two the red shoe rounded at front into the smooth bright orange box, ensure tips point left.",
+    "Ensure two the shoe with flat rubber sole are in the medium-sized box with Nike swoosh, tips facing left.",
+    "Transfer two the medium red shoe, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Use both arms to place two the red shoe with white sole into the medium orange box with smooth surface, tips left.",
+    "Grab and place two the footwear with red top white sole in the rectangular shoe-box with orange lid, tips left.",
+    "Put two the lace-up red sports shoe into the orange Nike shoe-box with logo, shoe tips left.",
+    "Collect two the red shoe rounded at front, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "Place two the single red shoe into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Grab a pair of the shoe with flat rubber sole, tips left, put them into the orange Nike shoe-box with logo.",
+    "Pick up two the red shoe with white sole, tips left, drop them into the rectangular shoe-box with orange lid.",
+    "With both arms, move two the red sneaker into the shoe-box with Nike printed logo, tips facing left.",
+    "Handle two the smooth-textured red shoe, tips directed left, and drop them into the orange Nike shoe-box with logo.",
+    "Pick up two the single red shoe and set them in the bright orange shoe-box, tips left.",
+    "Lift two the sports shoe, ensure left tips, drop in the shoe-box with Nike printed logo.",
+    "Make sure tips point left, then place the single red shoe in the orange cardboard shoe-box.",
+    "Pick two the grooved sole red shoe, ensure tips facing left, and position in the rectangular orange shoe-box.",
+    "Place two the red shoe rounded at front inside the medium-sized box with Nike swoosh, make tips face left.",
+    "Use both arms to set two the red shoe with white sole in the medium orange box with smooth surface, tips left.",
+    "Move a pair of the white bottom sports shoe into the rectangular shoe-box with orange lid, left tips first.",
+    "Hold two the medium red shoe, tips left, and place in the orange shoe-box.",
+    "Set two the white bottom sports shoe in the the rectangular orange shoe-box, tips pointing left.",
+    "Position two the red shoe with white sole into the rectangular orange shoe-box, shoe tips leftward.",
+    "Put two the footwear with red top white sole in the orange Nike shoe-box with logo with tips facing left.",
+    "Retrieve two the red shoe with white sole, orienting tips left, and place in the bright orange shoe-box.",
+    "Lift two the smooth-textured red shoe, position them in the Nike-branded orange shoe-box, tips to the left.",
+    "Grab two the grooved sole red shoe, tip left, place them in the rectangular orange shoe-box.",
+    "Grasp two the single red shoe, tips aligned left, and place them in the medium orange box with smooth surface.",
+    "Stick both the sports shoe in the orange cardboard shoe-box, shoe tips pointing left.",
+    "Pick up two the medium red shoe together and place in the medium-sized box with Nike swoosh, tips left.",
+    "Grab two the smooth-textured red shoe, tips left, place them carefully in the orange Nike shoe-box with logo.",
+    "Slide both the grooved sole red shoe into the orange Nike shoe-box with logo with tips pointing left.",
+    "Put two the red shoe with white sole, tips to the left, into the rectangular shoe-box with orange lid.",
+    "Grab both the smooth-textured red shoe and put them into the orange cardboard shoe-box, tips left.",
+    "Set two the smooth-textured red shoe into the the rectangular orange shoe-box, align tips to the left.",
+    "Grab both the grooved sole red shoe, ensure tips left, place in the medium orange box with smooth surface.",
+    "Drop a pair of the footwear with red top white sole into the smooth bright orange box, tips align left.",
+    "Use hands to grab two the single red shoe, tips left, drop into the orange shoe-box.",
+    "Hold two the single red shoe, drop them in the smooth orange box for shoes, tips pointing left.",
+    "Take two the sports shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Place two the red shoe with white sole tips leftward into the the shoe-box with Nike printed logo.",
+    "Lift and put two the lace-up red sports shoe in the medium orange box with smooth surface, tips left.",
+    "Lay down two the red shoe rounded at front in the smooth bright orange box, tips oriented left.",
+    "Use arms to lift two the shoe with flat rubber sole, tips left, and set in the medium-sized box with Nike swoosh.",
+    "Set two the footwear with red top white sole in the rectangular shoe-box with orange lid with tips left.",
+    "Place two the red sneaker in the orange cardboard shoe-box, tip left when set.",
+    "Arrange the two the medium red shoe, tips left, inside the Nike-branded orange shoe-box."
+  ],
+  "unseen": [
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Grab two the synthetic shoe upper and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the red shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the synthetic shoe upper to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the red sneaker medium sized and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the synthetic shoe upper into the orange box for keeping shoes, tips left.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Grab two the red sneaker medium sized and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the synthetic shoe upper and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the synthetic shoe upper in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the red shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Put a pair of the red shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Grab two the synthetic shoe upper and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the synthetic shoe upper in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the red sneaker medium sized into the orange box for keeping shoes, tips left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the synthetic shoe upper to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the red sneaker medium sized and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the synthetic shoe upper to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode247.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to set two the rounded front shoe in the orange Nike shoe-box with logo, tips left.",
+    "Drop a pair of the dark shoe with grooves on sole into the orange shoe-box, tips align left.",
+    "Grab both the shoe with thick rubber sole, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Set two the rounded tip leather shoe into the the Nike-branded orange shoe-box, align tips to the left.",
+    "Position two the shoe for everyday wear into the Nike-branded orange shoe-box, shoe tips leftward.",
+    "Grab a pair of the rounded front shoe, tips left, put them into the shoe-box with Nike printed logo.",
+    "Place two the dark brown leather shoe into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Set two the medium-sized walking shoe in the the orange shoe-box, tips pointing left.",
+    "Put two the shoe with thick rubber sole into the smooth bright orange box, shoe tips left.",
+    "Grab both the dark brown leather shoe and put them into the smooth orange box for shoes, tips left.",
+    "Move two the dark brown leather shoe, tip ends left, and set them in the rectangular shoe-box with orange lid.",
+    "Grab two the shoe for walking with rubber grip, tip left, place them in the orange shoe-box.",
+    "Grab and place two the rounded tip leather shoe in the rectangular orange shoe-box, tips left.",
+    "Lift two the shoe with thick rubber sole, ensure left tips, drop in the orange cardboard shoe-box.",
+    "Place two the shoe with grooved bottom inside the shoe-box with Nike printed logo, make tips face left.",
+    "Take two the rounded tip leather shoe, ensure tips left, place in the medium orange box with smooth surface.",
+    "Stick both the shoe for walking with rubber grip in the medium orange box with smooth surface, shoe tips pointing left.",
+    "Grasp two the rounded front shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Make sure tips point left, then place the dark brown leather shoe in the orange shoe-box.",
+    "Place two the shoe with lace holes tips leftward into the the medium orange box with smooth surface.",
+    "Arrange the two the rounded front shoe, tips left, inside the shoe-box with Nike printed logo.",
+    "Use hands to grab two the medium-sized walking shoe, tips left, drop into the rectangular shoe-box with orange lid.",
+    "Put two the brown shoe in the shoe-box with Nike printed logo with tips facing left.",
+    "Use arms to lift two the brown shoe, tips left, and set in the bright orange shoe-box.",
+    "Pick up two the shoe with thick rubber sole, tips left, drop them into the smooth orange box for shoes.",
+    "Lift and put two the brown shoe in the rectangular orange shoe-box, tips left.",
+    "Move a pair of the dark brown leather shoe into the rectangular orange shoe-box, left tips first.",
+    "Lift two the rounded front shoe, position them in the smooth bright orange box, tips to the left.",
+    "Pick two the shoe with grooved bottom, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Pick up two the shoe with grooved bottom together and place in the rectangular shoe-box with orange lid, tips left.",
+    "Set two the brown shoe in the shoe-box with Nike printed logo with tips left.",
+    "Retrieve two the shoe with grooved bottom, orienting tips left, and place in the bright orange shoe-box.",
+    "Hold two the rounded tip leather shoe, tips left, and place in the medium orange box with smooth surface.",
+    "Pick up two the shoe with lace holes, tips left, and set them in the rectangular orange shoe-box.",
+    "With both arms, move two the shoe with thick rubber sole into the orange shoe-box, tips facing left.",
+    "Slide both the dark brown leather shoe into the orange shoe-box with tips pointing left.",
+    "Lay down two the shoe for everyday wear in the bright orange shoe-box, tips oriented left.",
+    "Collect two the shoe with thick rubber sole, tips facing left, and put in the smooth bright orange box.",
+    "Transfer two the dark brown leather shoe, tips left-aligned, into the bright orange shoe-box.",
+    "Handle two the shoe with grooved bottom, tips directed left, and drop them into the orange Nike shoe-box with logo.",
+    "Pick up two the shoe for walking with rubber grip and set them in the medium orange box with smooth surface, tips left.",
+    "Hold two the shoe for walking with rubber grip, drop them in the medium orange box with smooth surface, tips pointing left.",
+    "Put two the brown shoe, tips to the left, into the smooth bright orange box.",
+    "Place two the rounded front shoe in the rectangular shoe-box with orange lid, tip left when set.",
+    "Ensure two the smooth leather shoe are in the smooth bright orange box, tips facing left.",
+    "Use both arms to place two the rounded front shoe into the medium orange box with smooth surface, tips left.",
+    "Move two the shoe with thick rubber sole into the rectangular orange shoe-box, ensure tips point left.",
+    "Grab two the shoe with thick rubber sole, tips left, place them carefully in the orange cardboard shoe-box.",
+    "Use both arms to set two the rounded front shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Drop a pair of the shoe for walking with rubber grip into the Nike-branded orange shoe-box, tips align left.",
+    "Grab both the rounded tip leather shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Set two the shoe with grooved bottom into the the smooth orange box for shoes, align tips to the left.",
+    "Position two the dark shoe with grooves on sole into the rectangular shoe-box with orange lid, shoe tips leftward.",
+    "Grab a pair of the dark brown leather shoe, tips left, put them into the orange shoe-box.",
+    "Place two the shoe with lace holes into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Set two the shoe for walking with rubber grip in the the orange Nike shoe-box with logo, tips pointing left.",
+    "Put two the rounded tip leather shoe into the bright orange shoe-box, shoe tips left.",
+    "Grab both the shoe for everyday wear and put them into the rectangular orange shoe-box, tips left.",
+    "Move two the rounded tip leather shoe, tip ends left, and set them in the smooth orange box for shoes.",
+    "Grab two the rounded tip leather shoe, tip left, place them in the smooth orange box for shoes.",
+    "Grab and place two the dark shoe with grooves on sole in the rectangular shoe-box with orange lid, tips left.",
+    "Lift two the smooth leather shoe, ensure left tips, drop in the medium orange box with smooth surface.",
+    "Place two the shoe with grooved bottom inside the medium orange box with smooth surface, make tips face left.",
+    "Take two the medium-sized walking shoe, ensure tips left, place in the smooth orange box for shoes.",
+    "Stick both the shoe for walking with rubber grip in the orange cardboard shoe-box, shoe tips pointing left.",
+    "Grasp two the dark shoe with grooves on sole, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "Make sure tips point left, then place the brown shoe in the orange cardboard shoe-box.",
+    "Place two the shoe with grooved bottom tips leftward into the the orange shoe-box.",
+    "Arrange the two the dark brown leather shoe, tips left, inside the medium orange box with smooth surface.",
+    "Use hands to grab two the shoe with grooved bottom, tips left, drop into the smooth bright orange box.",
+    "Put two the dark shoe with grooves on sole in the Nike-branded orange shoe-box with tips facing left.",
+    "Use arms to lift two the rounded tip leather shoe, tips left, and set in the orange shoe-box.",
+    "Pick up two the dark brown leather shoe, tips left, drop them into the orange cardboard shoe-box.",
+    "Lift and put two the shoe with grooved bottom in the smooth orange box for shoes, tips left.",
+    "Move a pair of the smooth leather shoe into the orange Nike shoe-box with logo, left tips first.",
+    "Lift two the rounded tip leather shoe, position them in the bright orange shoe-box, tips to the left.",
+    "Pick two the smooth leather shoe, ensure tips facing left, and position in the orange cardboard shoe-box.",
+    "Pick up two the shoe for everyday wear together and place in the Nike-branded orange shoe-box, tips left.",
+    "Set two the smooth leather shoe in the orange cardboard shoe-box with tips left.",
+    "Retrieve two the rounded tip leather shoe, orienting tips left, and place in the orange shoe-box.",
+    "Hold two the rounded front shoe, tips left, and place in the orange cardboard shoe-box.",
+    "Pick up two the dark brown leather shoe, tips left, and set them in the medium-sized box with Nike swoosh.",
+    "With both arms, move two the shoe with thick rubber sole into the orange Nike shoe-box with logo, tips facing left.",
+    "Slide both the shoe with thick rubber sole into the shoe-box with Nike printed logo with tips pointing left.",
+    "Lay down two the shoe with grooved bottom in the smooth bright orange box, tips oriented left.",
+    "Collect two the rounded front shoe, tips facing left, and put in the medium orange box with smooth surface.",
+    "Transfer two the dark shoe with grooves on sole, tips left-aligned, into the Nike-branded orange shoe-box.",
+    "Handle two the brown shoe, tips directed left, and drop them into the Nike-branded orange shoe-box.",
+    "Pick up two the dark brown leather shoe and set them in the medium orange box with smooth surface, tips left.",
+    "Hold two the dark shoe with grooves on sole, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Put two the brown shoe, tips to the left, into the orange shoe-box.",
+    "Place two the smooth leather shoe in the orange cardboard shoe-box, tip left when set.",
+    "Ensure two the smooth leather shoe are in the medium orange box with smooth surface, tips facing left.",
+    "Use both arms to place two the rounded front shoe into the smooth bright orange box, tips left.",
+    "Move two the brown shoe into the medium-sized box with Nike swoosh, ensure tips point left.",
+    "Grab two the shoe with lace holes, tips left, place them carefully in the rectangular orange shoe-box.",
+    "Use both arms to set two the shoe for everyday wear in the orange cardboard shoe-box, tips left.",
+    "Drop a pair of the dark brown leather shoe into the smooth bright orange box, tips align left.",
+    "Grab both the dark shoe with grooves on sole, ensure tips left, place in the rectangular orange shoe-box.",
+    "Set two the rounded tip leather shoe into the the rectangular shoe-box with orange lid, align tips to the left."
+  ],
+  "unseen": [
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the medium cardboard shoe-box.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the brown shoe with sturdy sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Lift two the casual brown shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown footwear with smooth texture into the orange box for keeping shoes, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the casual brown shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the casual brown shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the casual brown shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Place two the casual brown shoe into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the casual brown shoe, place left tips in the orange box for keeping shoes.",
+    "Grab two the casual brown shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the brown shoe with sturdy sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the casual brown shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the casual brown shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the brown shoe with sturdy sole into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the casual brown shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the medium cardboard shoe-box.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the casual brown shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the casual brown shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the casual brown shoe into the orange box for keeping shoes, tips left.",
+    "Put a pair of the brown footwear with smooth texture in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the casual brown shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the casual brown shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the casual brown shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the casual brown shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the casual brown shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the orange box for keeping shoes.",
+    "Place two the brown shoe with sturdy sole into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the casual brown shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the casual brown shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the casual brown shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the brown footwear with smooth texture and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the rectangular Nike box for shoes.",
+    "Place two the casual brown shoe into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the orange box for keeping shoes.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the casual brown shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the casual brown shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box.",
+    "Place two the casual brown shoe into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the casual brown shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the casual brown shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the brown footwear with smooth texture and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the casual brown shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the casual brown shoe into the orange box for keeping shoes, tips left.",
+    "Put a pair of the brown footwear with smooth texture in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the casual brown shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the medium cardboard shoe-box.",
+    "Grab two the casual brown shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the brown shoe with sturdy sole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the casual brown shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Place two the brown footwear with smooth texture into the orange box for keeping shoes, tips left.",
+    "Put a pair of the brown footwear with smooth texture in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the brown footwear with smooth texture to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the brown footwear with smooth texture and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the casual brown shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the casual brown shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the brown shoe with sturdy sole into the orange box for keeping shoes, tips left.",
+    "Put a pair of the casual brown shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the casual brown shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the casual brown shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the casual brown shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the brown shoe with sturdy sole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the casual brown shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the brown shoe with sturdy sole into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left."
+  ]
+}