Add files using upload-large-folder tool

press_stapler/ur5_randomized_500/instructions/episode115.json

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+{
+  "seen": [
+    "Press the blue stapler to complete the task.",
+    "Firmly press down on the handy blue stapler with metal parts to staple.",
+    "Push down on the stapler with blue plastic handle to staple papers.",
+    "Push down on the blue rectangular stapler with curves firmly.",
+    "Use an arm to press the blue stapler with white accents",
+    "Press the blue stapler to staple the sheets together.",
+    "Push the plastic stapler with metallic interior down completely",
+    "Push the blue rectangular stapler with curves using one arm",
+    "Apply one arm the right arm to press the plastic stapler with silver mechanism firmly.",
+    "Use one arm the right arm to press the bright blue smooth stapler.",
+    "Push down firmly on the plastic stapler with silver mechanism to complete.",
+    "Apply enough force to the stapler with blue plastic handle to press it.",
+    "Push the blue stapler for paper fastening until it staples.",
+    "Push the stapler the stapler with blue plastic handle to activate it.",
+    "Apply pressure on the blue stapler until it works.",
+    "Apply pressure to the blue stapler for paper fastening with the right arm.",
+    "Apply force to the simple stapler with the right arm",
+    "Apply pressure to the blue stapler with silver staple tray firmly",
+    "Press on the blue stapler with white accents to activate it.",
+    "Push down forcefully on the stapler the blue stapler for paper fastening.",
+    "Push the stapler with blue plastic handle down firmly.",
+    "Press the handy blue stapler with metal parts downward using your arm the right arm.",
+    "Press down on the stapler the blue rectangular stapler with curves firmly.",
+    "Simply press the stapler the plastic stapler with metallic interior downward.",
+    "Push the top of the blue stapler with silver staple tray down",
+    "Engage the handy blue stapler with metal parts by using the right arm to press it.",
+    "Push the stapler the simple stapler with the right arm.",
+    "Lower the right arm onto the stapler the stapler with blue plastic handle.",
+    "Press the stapler the blue stapler with silver staple tray using an arm the right arm.",
+    "Press down on the blue stapler until it functions.",
+    "Firmly press the blue stapler for paper fastening using an arm.",
+    "Use your arm the right arm to push the plastic stapler with metallic interior down.",
+    "Push down hard on the blue rectangular stapler with curves with the right arm.",
+    "Apply pressure to the compact bright blue stapler with the right arm.",
+    "Push down on the stapler the stapler with blue plastic handle.",
+    "Operate the blue stapler with silver staple tray by pressing it with the right arm.",
+    "Apply force to the blue stapler with white accents to staple.",
+    "Firmly push down on the blue rectangular stapler with curves.",
+    "Place pressure on the handy blue stapler with metal parts to staple.",
+    "Push down on the stapler the stapler with blue plastic handle.",
+    "Lower the plastic stapler with metallic interior using an arm",
+    "Push down on the bright blue smooth stapler to staple",
+    "Press the stapler with blue plastic handle until it works",
+    "Apply pressure to the blue stapler with white accents using one arm the right arm.",
+    "Use your the right arm to press the stapler the blue stapler with silver staple tray.",
+    "Press the bright blue smooth stapler firmly to staple",
+    "Use one arm to press the blue rectangular stapler with curves.",
+    "Push the stapler the plastic stapler with metallic interior to operate it.",
+    "Press on the stapler with blue plastic handle using the right arm.",
+    "Firmly push the handy blue stapler with metal parts using the right arm to operate it.",
+    "Press the plastic stapler with silver mechanism to complete the task.",
+    "Firmly press down on the blue stapler with silver staple tray to staple.",
+    "Push down on the blue stapler with white accents to staple papers.",
+    "Push down on the bright blue smooth stapler firmly.",
+    "Use an arm to press the blue stapler for paper fastening",
+    "Press the blue stapler for paper fastening to staple the sheets together.",
+    "Push the plastic stapler with metallic interior down completely",
+    "Push the stapler with blue plastic handle using one arm",
+    "Apply one arm the right arm to press the blue stapler with white accents firmly.",
+    "Use one arm the right arm to press the stapler with blue plastic handle.",
+    "Push down firmly on the compact bright blue stapler to complete.",
+    "Apply enough force to the blue stapler with silver staple tray to press it.",
+    "Push the stapler with blue plastic handle until it staples.",
+    "Push the stapler the compact bright blue stapler to activate it.",
+    "Apply pressure on the plastic stapler with silver mechanism until it works.",
+    "Apply pressure to the blue stapler with white accents with the right arm.",
+    "Apply force to the plastic stapler with metallic interior with the right arm",
+    "Apply pressure to the blue stapler firmly",
+    "Press on the bright blue smooth stapler to activate it.",
+    "Push down forcefully on the stapler the plastic stapler with silver mechanism.",
+    "Push the bright blue smooth stapler down firmly.",
+    "Press the plastic stapler with silver mechanism downward using your arm the right arm.",
+    "Press down on the stapler the blue rectangular stapler with curves firmly.",
+    "Simply press the stapler the stapler with blue plastic handle downward.",
+    "Push the top of the blue stapler for paper fastening down",
+    "Engage the simple stapler by using the right arm to press it.",
+    "Push the stapler the blue stapler with silver staple tray with the right arm.",
+    "Lower the right arm onto the stapler the simple stapler.",
+    "Press the stapler the blue stapler for paper fastening using an arm the right arm.",
+    "Press down on the handy blue stapler with metal parts until it functions.",
+    "Firmly press the compact bright blue stapler using an arm.",
+    "Use your arm the right arm to push the blue stapler down.",
+    "Push down hard on the blue stapler with white accents with the right arm.",
+    "Apply pressure to the plastic stapler with metallic interior with the right arm.",
+    "Push down on the stapler the plastic stapler with metallic interior.",
+    "Operate the simple stapler by pressing it with the right arm.",
+    "Apply force to the blue stapler for paper fastening to staple.",
+    "Firmly push down on the blue stapler with silver staple tray.",
+    "Place pressure on the blue stapler for paper fastening to staple.",
+    "Push down on the stapler the plastic stapler with silver mechanism.",
+    "Lower the simple stapler using an arm",
+    "Push down on the stapler with blue plastic handle to staple",
+    "Press the blue stapler with white accents until it works",
+    "Apply pressure to the bright blue smooth stapler using one arm the right arm.",
+    "Use your the right arm to press the stapler the blue stapler with silver staple tray.",
+    "Press the plastic stapler with metallic interior firmly to staple",
+    "Use one arm to press the plastic stapler with metallic interior.",
+    "Push the stapler the simple stapler to operate it.",
+    "Press on the handy blue stapler with metal parts using the right arm.",
+    "Firmly push the compact bright blue stapler using the right arm to operate it."
+  ],
+  "unseen": [
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the hand-size bright blue stapler down with one arm the right arm.",
+    "Use the right arm to press the blue and white stapler.",
+    "Press down on the hand-size bright blue stapler with the right arm.",
+    "Press down on the rectangular stapler with curved corners firmly using the right arm.",
+    "Use the right arm to press on the blue and white stapler",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the rectangular stapler with curved corners down with one arm the right arm.",
+    "Use the right arm to press the rectangular stapler with curved corners.",
+    "Press down on the rectangular stapler with curved corners with the right arm.",
+    "Press down on the blue and white stapler firmly using the right arm.",
+    "Use the right arm to press on the hand-size bright blue stapler",
+    "Use the right arm to press down on the rectangular stapler with curved corners.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the hand-size bright blue stapler down with one arm the right arm.",
+    "Use the right arm to press the hand-size bright blue stapler.",
+    "Press down on the rectangular stapler with curved corners with the right arm.",
+    "Press down on the blue and white stapler firmly using the right arm.",
+    "Use the right arm to press on the hand-size bright blue stapler",
+    "Use the right arm to press down on the hand-size bright blue stapler.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the blue and white stapler firmly using your arm.",
+    "Press the stapler the blue and white stapler with the arm the right arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm",
+    "Push the rectangular stapler with curved corners down with one arm the right arm.",
+    "Use the right arm to press the rectangular stapler with curved corners.",
+    "Press down on the blue and white stapler with the right arm.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press on the rectangular stapler with curved corners",
+    "Use the right arm to press down on the hand-size bright blue stapler.",
+    "Use the right arm to press the stapler the blue and white stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press the stapler the blue and white stapler with the arm the right arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm",
+    "Push the rectangular stapler with curved corners down with one arm the right arm.",
+    "Use the right arm to press the blue and white stapler.",
+    "Press down on the blue and white stapler with the right arm.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press on the blue and white stapler",
+    "Use the right arm to press down on the hand-size bright blue stapler.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the rectangular stapler with curved corners down with one arm the right arm.",
+    "Use the right arm to press the hand-size bright blue stapler.",
+    "Press down on the rectangular stapler with curved corners with the right arm.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press on the blue and white stapler",
+    "Use the right arm to press down on the hand-size bright blue stapler.",
+    "Use the right arm to press the stapler the blue and white stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the rectangular stapler with curved corners down with one arm the right arm.",
+    "Use the right arm to press the blue and white stapler.",
+    "Press down on the rectangular stapler with curved corners with the right arm.",
+    "Press down on the blue and white stapler firmly using the right arm.",
+    "Use the right arm to press on the hand-size bright blue stapler",
+    "Use the right arm to press down on the hand-size bright blue stapler.",
+    "Use the right arm to press the stapler the blue and white stapler.",
+    "Press the blue and white stapler firmly using your arm.",
+    "Press the stapler the blue and white stapler with the arm the right arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm",
+    "Push the hand-size bright blue stapler down with one arm the right arm.",
+    "Use the right arm to press the hand-size bright blue stapler.",
+    "Press down on the hand-size bright blue stapler with the right arm.",
+    "Press down on the blue and white stapler firmly using the right arm.",
+    "Use the right arm to press on the rectangular stapler with curved corners",
+    "Use the right arm to press down on the rectangular stapler with curved corners.",
+    "Use the right arm to press the stapler the rectangular stapler with curved corners.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm",
+    "Push the hand-size bright blue stapler down with one arm the right arm.",
+    "Use the right arm to press the hand-size bright blue stapler.",
+    "Press down on the rectangular stapler with curved corners with the right arm.",
+    "Press down on the rectangular stapler with curved corners firmly using the right arm.",
+    "Use the right arm to press on the rectangular stapler with curved corners",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the blue and white stapler firmly using your arm.",
+    "Press the stapler the blue and white stapler with the arm the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the rectangular stapler with curved corners down with one arm the right arm.",
+    "Use the right arm to press the rectangular stapler with curved corners.",
+    "Press down on the hand-size bright blue stapler with the right arm.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press on the blue and white stapler",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Use the right arm to press the stapler the rectangular stapler with curved corners."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode135.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the blue stapler firmly to staple",
+    "Push down hard on the manual blue stapler with the left arm.",
+    "Apply force to the blue stapler to staple.",
+    "Push down on the blue stapler with ergonomic curve firmly.",
+    "Apply pressure to the blue stapler with shiny silver parts firmly",
+    "Use an arm to press the stapler with curved blue top",
+    "Lower the left arm onto the stapler the plastic stapler with metal on base.",
+    "Operate the blue stapler by pressing it with the left arm.",
+    "Firmly press down on the blue stapler to staple.",
+    "Apply force to the handheld blue and silver stapler with the left arm",
+    "Press on the plastic stapler with metal on base to activate it.",
+    "Press the curved blue and silver stapler downward using your arm the left arm.",
+    "Push the blue plastic stapler with silver metal down firmly.",
+    "Push the manual blue stapler down completely",
+    "Apply pressure to the plastic stapler with metal on base with the left arm.",
+    "Use your arm the left arm to push the plastic stapler with metal on base down.",
+    "Push down firmly on the stapler with smooth blue finish to complete.",
+    "Place pressure on the blue stapler with shiny silver parts to staple.",
+    "Push down on the blue plastic stapler with silver metal to staple papers.",
+    "Push down on the stapler the handheld blue and silver stapler.",
+    "Engage the blue stapler with shiny silver parts by using the left arm to press it.",
+    "Push the stapler the plastic stapler with metal on base with the left arm.",
+    "Use one arm to press the curved blue and silver stapler.",
+    "Apply pressure to the blue stapler with shiny silver parts with the left arm.",
+    "Press on the metallic stapler with blue cover using the left arm.",
+    "Lower the handheld blue and silver stapler using an arm",
+    "Push the stapler with curved blue top using one arm",
+    "Press the blue plastic stapler with silver metal to complete the task.",
+    "Firmly push the curved blue and silver stapler using the left arm to operate it.",
+    "Apply enough force to the curved blue and silver stapler to press it.",
+    "Push the stapler the curved blue and silver stapler to operate it.",
+    "Press the stapler the compact stapler with smooth surface using an arm the left arm.",
+    "Firmly press the handheld blue and silver stapler using an arm.",
+    "Push the stapler the curved blue and silver stapler to activate it.",
+    "Use your the left arm to press the stapler the curved blue and silver stapler.",
+    "Use one arm the left arm to press the stapler with curved blue top.",
+    "Press down on the manual blue stapler until it functions.",
+    "Apply one arm the left arm to press the metallic stapler with blue cover firmly.",
+    "Push the metallic stapler with blue cover until it staples.",
+    "Push down forcefully on the stapler the blue stapler with shiny silver parts.",
+    "Press down on the stapler the manual blue stapler firmly.",
+    "Push down on the plastic stapler with metal on base to staple",
+    "Apply pressure to the blue stapler with ergonomic curve using one arm the left arm.",
+    "Press the blue stapler with ergonomic curve to staple the sheets together.",
+    "Firmly push down on the curved blue and silver stapler.",
+    "Simply press the stapler the metallic stapler with blue cover downward.",
+    "Push down on the stapler the blue stapler with shiny silver parts.",
+    "Apply pressure on the curved blue and silver stapler until it works.",
+    "Press the stapler with curved blue top until it works",
+    "Push the top of the plastic stapler with metal on base down",
+    "Press the manual blue stapler firmly to staple",
+    "Push down hard on the stapler with smooth blue finish with the left arm.",
+    "Apply force to the plastic stapler with metal on base to staple.",
+    "Push down on the compact stapler with smooth surface firmly.",
+    "Apply pressure to the metallic stapler with blue cover firmly",
+    "Use an arm to press the stapler with curved blue top",
+    "Lower the left arm onto the stapler the manual blue stapler.",
+    "Operate the blue stapler with shiny silver parts by pressing it with the left arm.",
+    "Firmly press down on the blue stapler with shiny silver parts to staple.",
+    "Apply force to the blue plastic stapler with silver metal with the left arm",
+    "Press on the compact stapler with smooth surface to activate it.",
+    "Press the manual blue stapler downward using your arm the left arm.",
+    "Push the stapler with smooth blue finish down firmly.",
+    "Push the manual blue stapler down completely",
+    "Apply pressure to the stapler with curved blue top with the left arm.",
+    "Use your arm the left arm to push the metallic stapler with blue cover down.",
+    "Push down firmly on the plastic stapler with metal on base to complete.",
+    "Place pressure on the stapler with curved blue top to staple.",
+    "Push down on the blue plastic stapler with silver metal to staple papers.",
+    "Push down on the stapler the plastic stapler with metal on base.",
+    "Engage the metallic stapler with blue cover by using the left arm to press it.",
+    "Push the stapler the blue stapler with shiny silver parts with the left arm.",
+    "Use one arm to press the stapler with smooth blue finish.",
+    "Apply pressure to the blue stapler with ergonomic curve with the left arm.",
+    "Press on the compact stapler with smooth surface using the left arm.",
+    "Lower the plastic stapler with metal on base using an arm",
+    "Push the curved blue and silver stapler using one arm",
+    "Press the stapler with curved blue top to complete the task.",
+    "Firmly push the plastic stapler with metal on base using the left arm to operate it.",
+    "Apply enough force to the handheld blue and silver stapler to press it.",
+    "Push the stapler the blue stapler with shiny silver parts to operate it.",
+    "Press the stapler the stapler with curved blue top using an arm the left arm.",
+    "Firmly press the blue plastic stapler with silver metal using an arm.",
+    "Push the stapler the blue plastic stapler with silver metal to activate it.",
+    "Use your the left arm to press the stapler the blue stapler.",
+    "Use one arm the left arm to press the handheld blue and silver stapler.",
+    "Press down on the stapler with smooth blue finish until it functions.",
+    "Apply one arm the left arm to press the stapler with smooth blue finish firmly.",
+    "Push the compact stapler with smooth surface until it staples.",
+    "Push down forcefully on the stapler the compact stapler with smooth surface.",
+    "Press down on the stapler the stapler with curved blue top firmly.",
+    "Push down on the metallic stapler with blue cover to staple",
+    "Apply pressure to the blue stapler with shiny silver parts using one arm the left arm.",
+    "Press the blue stapler to staple the sheets together.",
+    "Firmly push down on the plastic stapler with metal on base.",
+    "Simply press the stapler the compact stapler with smooth surface downward.",
+    "Push down on the stapler the blue stapler.",
+    "Apply pressure on the stapler with curved blue top until it works.",
+    "Press the plastic stapler with metal on base until it works",
+    "Push the top of the curved blue and silver stapler down"
+  ],
+  "unseen": [
+    "Press the stapler the blue stapler for holding papers with the arm the left arm.",
+    "Use the left arm to press down on the small stapler with simple design.",
+    "Press down on the small stapler with simple design firmly using the left arm.",
+    "Use the left arm to press the stapler the small stapler with simple design.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Press down on the blue stapler for holding papers with the left arm.",
+    "Press down on the small stapler with simple design with the left arm",
+    "Use the left arm to press the small hand-sized stapler.",
+    "Push the small hand-sized stapler down with one arm the left arm.",
+    "Use the left arm to press on the blue stapler for holding papers",
+    "Press the stapler the blue stapler for holding papers with the arm the left arm.",
+    "Use the left arm to press down on the small stapler with simple design.",
+    "Press down on the small stapler with simple design firmly using the left arm.",
+    "Use the left arm to press the stapler the small hand-sized stapler.",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Press down on the blue stapler for holding papers with the left arm.",
+    "Press down on the small stapler with simple design with the left arm",
+    "Use the left arm to press the small hand-sized stapler.",
+    "Push the blue stapler for holding papers down with one arm the left arm.",
+    "Use the left arm to press on the blue stapler for holding papers",
+    "Press the stapler the small stapler with simple design with the arm the left arm.",
+    "Use the left arm to press down on the small hand-sized stapler.",
+    "Press down on the small stapler with simple design firmly using the left arm.",
+    "Use the left arm to press the stapler the small stapler with simple design.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Press down on the small hand-sized stapler with the left arm.",
+    "Press down on the small stapler with simple design with the left arm",
+    "Use the left arm to press the blue stapler for holding papers.",
+    "Push the blue stapler for holding papers down with one arm the left arm.",
+    "Use the left arm to press on the blue stapler for holding papers",
+    "Press the stapler the small hand-sized stapler with the arm the left arm.",
+    "Use the left arm to press down on the small hand-sized stapler.",
+    "Press down on the small stapler with simple design firmly using the left arm.",
+    "Use the left arm to press the stapler the small stapler with simple design.",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Press down on the small stapler with simple design with the left arm.",
+    "Press down on the small stapler with simple design with the left arm",
+    "Use the left arm to press the blue stapler for holding papers.",
+    "Push the small hand-sized stapler down with one arm the left arm.",
+    "Use the left arm to press on the small stapler with simple design",
+    "Press the stapler the small hand-sized stapler with the arm the left arm.",
+    "Use the left arm to press down on the blue stapler for holding papers.",
+    "Press down on the small hand-sized stapler firmly using the left arm.",
+    "Use the left arm to press the stapler the small stapler with simple design.",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Press down on the small hand-sized stapler with the left arm.",
+    "Press down on the small stapler with simple design with the left arm",
+    "Use the left arm to press the blue stapler for holding papers.",
+    "Push the small stapler with simple design down with one arm the left arm.",
+    "Use the left arm to press on the small stapler with simple design",
+    "Press the stapler the small stapler with simple design with the arm the left arm.",
+    "Use the left arm to press down on the small stapler with simple design.",
+    "Press down on the small hand-sized stapler firmly using the left arm.",
+    "Use the left arm to press the stapler the small stapler with simple design.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Press down on the small hand-sized stapler with the left arm.",
+    "Press down on the blue stapler for holding papers with the left arm",
+    "Use the left arm to press the blue stapler for holding papers.",
+    "Push the small hand-sized stapler down with one arm the left arm.",
+    "Use the left arm to press on the small stapler with simple design",
+    "Press the stapler the blue stapler for holding papers with the arm the left arm.",
+    "Use the left arm to press down on the small stapler with simple design.",
+    "Press down on the small stapler with simple design firmly using the left arm.",
+    "Use the left arm to press the stapler the small stapler with simple design.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Press down on the small stapler with simple design with the left arm.",
+    "Press down on the blue stapler for holding papers with the left arm",
+    "Use the left arm to press the blue stapler for holding papers.",
+    "Push the small hand-sized stapler down with one arm the left arm.",
+    "Use the left arm to press on the small hand-sized stapler",
+    "Press the stapler the blue stapler for holding papers with the arm the left arm.",
+    "Use the left arm to press down on the small stapler with simple design.",
+    "Press down on the small stapler with simple design firmly using the left arm.",
+    "Use the left arm to press the stapler the small stapler with simple design.",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Press down on the small stapler with simple design with the left arm.",
+    "Press down on the small hand-sized stapler with the left arm",
+    "Use the left arm to press the small stapler with simple design.",
+    "Push the small hand-sized stapler down with one arm the left arm.",
+    "Use the left arm to press on the small stapler with simple design",
+    "Press the stapler the small stapler with simple design with the arm the left arm.",
+    "Use the left arm to press down on the small hand-sized stapler.",
+    "Press down on the small hand-sized stapler firmly using the left arm.",
+    "Use the left arm to press the stapler the blue stapler for holding papers.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Press down on the small hand-sized stapler with the left arm.",
+    "Press down on the small stapler with simple design with the left arm",
+    "Use the left arm to press the small hand-sized stapler.",
+    "Push the blue stapler for holding papers down with one arm the left arm.",
+    "Use the left arm to press on the blue stapler for holding papers",
+    "Press the stapler the small hand-sized stapler with the arm the left arm.",
+    "Use the left arm to press down on the blue stapler for holding papers.",
+    "Press down on the small hand-sized stapler firmly using the left arm.",
+    "Use the left arm to press the stapler the small stapler with simple design.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Press down on the small stapler with simple design with the left arm.",
+    "Press down on the small hand-sized stapler with the left arm",
+    "Use the left arm to press the small hand-sized stapler.",
+    "Push the small stapler with simple design down with one arm the left arm.",
+    "Use the left arm to press on the blue stapler for holding papers"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode165.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simply press the stapler the stapler with red top downward.",
+    "Press on the compact office stapler to activate it.",
+    "Press down on the stapler the manual stapler with black base firmly.",
+    "Press the stapler the red plastic stapler with smooth top using an arm the left arm.",
+    "Apply one arm the left arm to press the small handheld stapler firmly.",
+    "Push the desk stapler with red body down firmly.",
+    "Press the red stapler to staple the sheets together.",
+    "Press on the office stapler with plastic and metal parts using the left arm.",
+    "Firmly press the desk stapler with red body using an arm.",
+    "Press the red plastic stapler with smooth top downward using your arm the left arm.",
+    "Push the stapler the red plastic stapler with smooth top to activate it.",
+    "Push down on the stapler with metallic staple slot to staple",
+    "Apply enough force to the office stapler with plastic and metal parts to press it.",
+    "Use an arm to press the red top black bottom stapler",
+    "Use your the left arm to press the stapler the stapler for fastening papers.",
+    "Use your arm the left arm to push the compact office stapler down.",
+    "Lower the left arm onto the stapler the red top black bottom stapler.",
+    "Apply pressure on the red plastic stapler with smooth top until it works.",
+    "Press down on the compact office stapler until it functions.",
+    "Push the red top black bottom stapler down completely",
+    "Apply force to the manual stapler with black base with the left arm",
+    "Operate the desk stapler with red body by pressing it with the left arm.",
+    "Firmly press down on the stapler with red top to staple.",
+    "Push the top of the stapler with metallic staple slot down",
+    "Press the red top black bottom stapler until it works",
+    "Apply force to the stapler for fastening papers to staple.",
+    "Use one arm to press the red plastic stapler with smooth top.",
+    "Press the compact office stapler to complete the task.",
+    "Push down on the stapler with metallic staple slot to staple papers.",
+    "Push down on the stapler the stapler with red top.",
+    "Push the stapler the red stapler to operate it.",
+    "Firmly push down on the office stapler with plastic and metal parts.",
+    "Apply pressure to the stapler with red top with the left arm.",
+    "Apply pressure to the small handheld stapler with the left arm.",
+    "Place pressure on the small handheld stapler to staple.",
+    "Use one arm the left arm to press the red top black bottom stapler.",
+    "Push the stapler the red top black bottom stapler with the left arm.",
+    "Apply pressure to the small handheld stapler using one arm the left arm.",
+    "Press the desk stapler with red body firmly to staple",
+    "Push down on the stapler the small handheld stapler.",
+    "Push down forcefully on the stapler the stapler for fastening papers.",
+    "Apply pressure to the stapler with red top firmly",
+    "Lower the compact office stapler using an arm",
+    "Push down on the red top black bottom stapler firmly.",
+    "Push down hard on the red stapler with the left arm.",
+    "Engage the stapler with metallic staple slot by using the left arm to press it.",
+    "Push down firmly on the stapler with metallic staple slot to complete.",
+    "Firmly push the red stapler using the left arm to operate it.",
+    "Push the manual stapler with black base until it staples.",
+    "Push the manual stapler with black base using one arm",
+    "Simply press the stapler the stapler for fastening papers downward.",
+    "Press on the desk stapler with red body to activate it.",
+    "Press down on the stapler the desk stapler with red body firmly.",
+    "Press the stapler the red plastic stapler with smooth top using an arm the left arm.",
+    "Apply one arm the left arm to press the compact office stapler firmly.",
+    "Push the stapler for fastening papers down firmly.",
+    "Press the red stapler with black base to staple the sheets together.",
+    "Press on the red stapler using the left arm.",
+    "Firmly press the stapler with metallic staple slot using an arm.",
+    "Press the red top black bottom stapler downward using your arm the left arm.",
+    "Push the stapler the red plastic stapler with smooth top to activate it.",
+    "Push down on the manual stapler with black base to staple",
+    "Apply enough force to the small handheld stapler to press it.",
+    "Use an arm to press the stapler with metallic staple slot",
+    "Use your the left arm to press the stapler the red plastic stapler with smooth top.",
+    "Use your arm the left arm to push the desk stapler with red body down.",
+    "Lower the left arm onto the stapler the stapler for fastening papers.",
+    "Apply pressure on the red stapler until it works.",
+    "Press down on the stapler with red top until it functions.",
+    "Push the red top black bottom stapler down completely",
+    "Apply force to the office stapler with plastic and metal parts with the left arm",
+    "Operate the manual stapler with black base by pressing it with the left arm.",
+    "Firmly press down on the office stapler with plastic and metal parts to staple.",
+    "Push the top of the red stapler with black base down",
+    "Press the red plastic stapler with smooth top until it works",
+    "Apply force to the manual stapler with black base to staple.",
+    "Use one arm to press the red top black bottom stapler.",
+    "Press the stapler for fastening papers to complete the task.",
+    "Push down on the small handheld stapler to staple papers.",
+    "Push down on the stapler the red stapler.",
+    "Push the stapler the small handheld stapler to operate it.",
+    "Firmly push down on the red plastic stapler with smooth top.",
+    "Apply pressure to the compact office stapler with the left arm.",
+    "Apply pressure to the red top black bottom stapler with the left arm.",
+    "Place pressure on the stapler with red top to staple.",
+    "Use one arm the left arm to press the red stapler with black base.",
+    "Push the stapler the red plastic stapler with smooth top with the left arm.",
+    "Apply pressure to the stapler with metallic staple slot using one arm the left arm.",
+    "Press the manual stapler with black base firmly to staple",
+    "Push down on the stapler the red top black bottom stapler.",
+    "Push down forcefully on the stapler the red top black bottom stapler.",
+    "Apply pressure to the red plastic stapler with smooth top firmly",
+    "Lower the stapler with red top using an arm",
+    "Push down on the compact office stapler firmly.",
+    "Push down hard on the red stapler with black base with the left arm.",
+    "Engage the compact office stapler by using the left arm to press it.",
+    "Push down firmly on the red top black bottom stapler to complete.",
+    "Firmly push the red stapler with black base using the left arm to operate it.",
+    "Push the red stapler with black base until it staples.",
+    "Push the red stapler using one arm"
+  ],
+  "unseen": [
+    "Press the stapler the paper stapler with curved handle with the arm the left arm.",
+    "Use the left arm to press down on the red stapler with silver chamber.",
+    "Use the left arm to press on the paper stapler with curved handle",
+    "Press down on the paper stapler with curved handle firmly using the left arm.",
+    "Press down on the red stapler with silver chamber with the left arm",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the left arm to press the red plastic stapler.",
+    "Push the red plastic stapler down with one arm the left arm.",
+    "Use the left arm to press the stapler the red plastic stapler.",
+    "Press down on the red stapler with silver chamber with the left arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the left arm.",
+    "Use the left arm to press down on the paper stapler with curved handle.",
+    "Use the left arm to press on the red plastic stapler",
+    "Press down on the paper stapler with curved handle firmly using the left arm.",
+    "Press down on the red plastic stapler with the left arm",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the left arm to press the red plastic stapler.",
+    "Push the red plastic stapler down with one arm the left arm.",
+    "Use the left arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle with the left arm.",
+    "Press the stapler the red plastic stapler with the arm the left arm.",
+    "Use the left arm to press down on the paper stapler with curved handle.",
+    "Use the left arm to press on the red stapler with silver chamber",
+    "Press down on the red stapler with silver chamber firmly using the left arm.",
+    "Press down on the paper stapler with curved handle with the left arm",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the left arm to press the red stapler with silver chamber.",
+    "Push the red stapler with silver chamber down with one arm the left arm.",
+    "Use the left arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red stapler with silver chamber with the left arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the left arm.",
+    "Use the left arm to press down on the red stapler with silver chamber.",
+    "Use the left arm to press on the red stapler with silver chamber",
+    "Press down on the red plastic stapler firmly using the left arm.",
+    "Press down on the paper stapler with curved handle with the left arm",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the left arm to press the red plastic stapler.",
+    "Push the red stapler with silver chamber down with one arm the left arm.",
+    "Use the left arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber with the left arm.",
+    "Press the stapler the red plastic stapler with the arm the left arm.",
+    "Use the left arm to press down on the paper stapler with curved handle.",
+    "Use the left arm to press on the red plastic stapler",
+    "Press down on the red stapler with silver chamber firmly using the left arm.",
+    "Press down on the paper stapler with curved handle with the left arm",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the left arm to press the red stapler with silver chamber.",
+    "Push the paper stapler with curved handle down with one arm the left arm.",
+    "Use the left arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the paper stapler with curved handle with the left arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the left arm.",
+    "Use the left arm to press down on the red stapler with silver chamber.",
+    "Use the left arm to press on the red stapler with silver chamber",
+    "Press down on the red stapler with silver chamber firmly using the left arm.",
+    "Press down on the red plastic stapler with the left arm",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the left arm to press the paper stapler with curved handle.",
+    "Push the red plastic stapler down with one arm the left arm.",
+    "Use the left arm to press the stapler the red plastic stapler.",
+    "Press down on the red stapler with silver chamber with the left arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the left arm.",
+    "Use the left arm to press down on the paper stapler with curved handle.",
+    "Use the left arm to press on the red stapler with silver chamber",
+    "Press down on the paper stapler with curved handle firmly using the left arm.",
+    "Press down on the red plastic stapler with the left arm",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the left arm to press the red plastic stapler.",
+    "Push the red stapler with silver chamber down with one arm the left arm.",
+    "Use the left arm to press the stapler the red plastic stapler.",
+    "Press down on the red plastic stapler with the left arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the left arm.",
+    "Use the left arm to press down on the paper stapler with curved handle.",
+    "Use the left arm to press on the red plastic stapler",
+    "Press down on the red stapler with silver chamber firmly using the left arm.",
+    "Press down on the red plastic stapler with the left arm",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the left arm to press the red stapler with silver chamber.",
+    "Push the red stapler with silver chamber down with one arm the left arm.",
+    "Use the left arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle with the left arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the left arm.",
+    "Use the left arm to press down on the red stapler with silver chamber.",
+    "Use the left arm to press on the red plastic stapler",
+    "Press down on the paper stapler with curved handle firmly using the left arm.",
+    "Press down on the red plastic stapler with the left arm",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the left arm to press the red plastic stapler.",
+    "Push the red stapler with silver chamber down with one arm the left arm.",
+    "Use the left arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red plastic stapler with the left arm.",
+    "Press the stapler the red plastic stapler with the arm the left arm.",
+    "Use the left arm to press down on the paper stapler with curved handle.",
+    "Use the left arm to press on the red stapler with silver chamber",
+    "Press down on the red plastic stapler firmly using the left arm.",
+    "Press down on the paper stapler with curved handle with the left arm",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the left arm to press the red plastic stapler.",
+    "Push the red plastic stapler down with one arm the left arm.",
+    "Use the left arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber with the left arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode166.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the stapler the simple stapler with the right arm.",
+    "Apply pressure to the bright blue smooth stapler with the right arm.",
+    "Apply pressure to the bright blue smooth stapler using one arm the right arm.",
+    "Push the handy blue stapler with metal parts using one arm",
+    "Push down on the blue rectangular stapler with curves to staple papers.",
+    "Press down on the stapler the handy blue stapler with metal parts firmly.",
+    "Use your the right arm to press the stapler the blue stapler for paper fastening.",
+    "Push down forcefully on the stapler the compact bright blue stapler.",
+    "Apply force to the plastic stapler with metallic interior to staple.",
+    "Push the stapler the blue stapler to operate it.",
+    "Firmly press the blue rectangular stapler with curves using an arm.",
+    "Push the top of the blue rectangular stapler with curves down",
+    "Apply one arm the right arm to press the handy blue stapler with metal parts firmly.",
+    "Lower the right arm onto the stapler the handy blue stapler with metal parts.",
+    "Push the blue stapler down firmly.",
+    "Firmly press down on the blue rectangular stapler with curves to staple.",
+    "Press the plastic stapler with metallic interior to complete the task.",
+    "Firmly push down on the plastic stapler with silver mechanism.",
+    "Push down hard on the plastic stapler with silver mechanism with the right arm.",
+    "Press the blue rectangular stapler with curves firmly to staple",
+    "Push the blue stapler down completely",
+    "Use one arm to press the plastic stapler with metallic interior.",
+    "Use one arm the right arm to press the blue stapler with white accents.",
+    "Press on the blue stapler with white accents to activate it.",
+    "Push down on the stapler the compact bright blue stapler.",
+    "Use an arm to press the blue stapler with silver staple tray",
+    "Push down on the stapler the plastic stapler with silver mechanism.",
+    "Simply press the stapler the plastic stapler with silver mechanism downward.",
+    "Use your arm the right arm to push the blue stapler with white accents down.",
+    "Place pressure on the compact bright blue stapler to staple.",
+    "Press the compact bright blue stapler downward using your arm the right arm.",
+    "Apply pressure to the blue stapler with silver staple tray firmly",
+    "Firmly push the stapler with blue plastic handle using the right arm to operate it.",
+    "Engage the blue stapler by using the right arm to press it.",
+    "Apply enough force to the blue stapler with white accents to press it.",
+    "Push the blue stapler with white accents until it staples.",
+    "Push down on the handy blue stapler with metal parts to staple",
+    "Apply pressure on the handy blue stapler with metal parts until it works.",
+    "Apply pressure to the compact bright blue stapler with the right arm.",
+    "Press the handy blue stapler with metal parts until it works",
+    "Push down on the plastic stapler with silver mechanism firmly.",
+    "Push down firmly on the blue stapler to complete.",
+    "Operate the blue stapler by pressing it with the right arm.",
+    "Lower the blue rectangular stapler with curves using an arm",
+    "Push the stapler the bright blue smooth stapler to activate it.",
+    "Press the stapler the stapler with blue plastic handle using an arm the right arm.",
+    "Apply force to the bright blue smooth stapler with the right arm",
+    "Press down on the blue stapler with white accents until it functions.",
+    "Press on the bright blue smooth stapler using the right arm.",
+    "Press the blue stapler with white accents to staple the sheets together.",
+    "Push the stapler the blue stapler for paper fastening with the right arm.",
+    "Apply pressure to the plastic stapler with metallic interior with the right arm.",
+    "Apply pressure to the plastic stapler with metallic interior using one arm the right arm.",
+    "Push the plastic stapler with silver mechanism using one arm",
+    "Push down on the plastic stapler with silver mechanism to staple papers.",
+    "Press down on the stapler the plastic stapler with silver mechanism firmly.",
+    "Use your the right arm to press the stapler the simple stapler.",
+    "Push down forcefully on the stapler the blue stapler with silver staple tray.",
+    "Apply force to the blue stapler with silver staple tray to staple.",
+    "Push the stapler the blue stapler for paper fastening to operate it.",
+    "Firmly press the blue stapler using an arm.",
+    "Push the top of the plastic stapler with silver mechanism down",
+    "Apply one arm the right arm to press the blue stapler with white accents firmly.",
+    "Lower the right arm onto the stapler the blue stapler with white accents.",
+    "Push the handy blue stapler with metal parts down firmly.",
+    "Firmly press down on the simple stapler to staple.",
+    "Press the blue stapler with silver staple tray to complete the task.",
+    "Firmly push down on the simple stapler.",
+    "Push down hard on the stapler with blue plastic handle with the right arm.",
+    "Press the blue stapler with white accents firmly to staple",
+    "Push the bright blue smooth stapler down completely",
+    "Use one arm to press the plastic stapler with metallic interior.",
+    "Use one arm the right arm to press the bright blue smooth stapler.",
+    "Press on the simple stapler to activate it.",
+    "Push down on the stapler the blue stapler.",
+    "Use an arm to press the blue stapler",
+    "Push down on the stapler the blue rectangular stapler with curves.",
+    "Simply press the stapler the plastic stapler with silver mechanism downward.",
+    "Use your arm the right arm to push the plastic stapler with metallic interior down.",
+    "Place pressure on the blue stapler with white accents to staple.",
+    "Press the blue stapler with white accents downward using your arm the right arm.",
+    "Apply pressure to the simple stapler firmly",
+    "Firmly push the compact bright blue stapler using the right arm to operate it.",
+    "Engage the simple stapler by using the right arm to press it.",
+    "Apply enough force to the plastic stapler with metallic interior to press it.",
+    "Push the plastic stapler with silver mechanism until it staples.",
+    "Push down on the handy blue stapler with metal parts to staple",
+    "Apply pressure on the blue stapler until it works.",
+    "Apply pressure to the handy blue stapler with metal parts with the right arm.",
+    "Press the blue stapler for paper fastening until it works",
+    "Push down on the compact bright blue stapler firmly.",
+    "Push down firmly on the blue stapler to complete.",
+    "Operate the blue stapler with silver staple tray by pressing it with the right arm.",
+    "Lower the plastic stapler with metallic interior using an arm",
+    "Push the stapler the blue stapler with white accents to activate it.",
+    "Press the stapler the blue stapler with white accents using an arm the right arm.",
+    "Apply force to the stapler with blue plastic handle with the right arm",
+    "Press down on the blue rectangular stapler with curves until it functions.",
+    "Press on the blue rectangular stapler with curves using the right arm.",
+    "Press the blue stapler for paper fastening to staple the sheets together."
+  ],
+  "unseen": [
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the hand-size bright blue stapler with the right arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm",
+    "Push the hand-size bright blue stapler down with one arm the right arm.",
+    "Use the right arm to press the rectangular stapler with curved corners.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the blue and white stapler.",
+    "Press the stapler the blue and white stapler with the arm the right arm.",
+    "Use the right arm to press on the rectangular stapler with curved corners",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the blue and white stapler with the right arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm",
+    "Push the hand-size bright blue stapler down with one arm the right arm.",
+    "Use the right arm to press the blue and white stapler.",
+    "Press down on the rectangular stapler with curved corners firmly using the right arm.",
+    "Use the right arm to press the stapler the rectangular stapler with curved corners.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Use the right arm to press on the hand-size bright blue stapler",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm",
+    "Push the rectangular stapler with curved corners down with one arm the right arm.",
+    "Use the right arm to press the rectangular stapler with curved corners.",
+    "Press down on the blue and white stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the stapler the blue and white stapler with the arm the right arm.",
+    "Use the right arm to press on the hand-size bright blue stapler",
+    "Use the right arm to press down on the hand-size bright blue stapler.",
+    "Press the blue and white stapler firmly using your arm.",
+    "Press down on the rectangular stapler with curved corners with the right arm.",
+    "Press down on the blue and white stapler with the right arm",
+    "Push the blue and white stapler down with one arm the right arm.",
+    "Use the right arm to press the rectangular stapler with curved corners.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the stapler the hand-size bright blue stapler with the arm the right arm.",
+    "Use the right arm to press on the rectangular stapler with curved corners",
+    "Use the right arm to press down on the rectangular stapler with curved corners.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the blue and white stapler with the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the blue and white stapler down with one arm the right arm.",
+    "Use the right arm to press the blue and white stapler.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the rectangular stapler with curved corners.",
+    "Press the stapler the blue and white stapler with the arm the right arm.",
+    "Use the right arm to press on the blue and white stapler",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the blue and white stapler with the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the hand-size bright blue stapler down with one arm the right arm.",
+    "Use the right arm to press the rectangular stapler with curved corners.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Use the right arm to press on the rectangular stapler with curved corners",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the blue and white stapler with the right arm.",
+    "Press down on the blue and white stapler with the right arm",
+    "Push the blue and white stapler down with one arm the right arm.",
+    "Use the right arm to press the blue and white stapler.",
+    "Press down on the rectangular stapler with curved corners firmly using the right arm.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Use the right arm to press on the rectangular stapler with curved corners",
+    "Use the right arm to press down on the hand-size bright blue stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the hand-size bright blue stapler with the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the blue and white stapler down with one arm the right arm.",
+    "Use the right arm to press the hand-size bright blue stapler.",
+    "Press down on the rectangular stapler with curved corners firmly using the right arm.",
+    "Use the right arm to press the stapler the rectangular stapler with curved corners.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Use the right arm to press on the blue and white stapler",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the blue and white stapler with the right arm.",
+    "Press down on the hand-size bright blue stapler with the right arm",
+    "Push the hand-size bright blue stapler down with one arm the right arm.",
+    "Use the right arm to press the hand-size bright blue stapler.",
+    "Press down on the blue and white stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the hand-size bright blue stapler.",
+    "Press the stapler the hand-size bright blue stapler with the arm the right arm.",
+    "Use the right arm to press on the rectangular stapler with curved corners",
+    "Use the right arm to press down on the blue and white stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the blue and white stapler with the right arm.",
+    "Press down on the blue and white stapler with the right arm",
+    "Push the blue and white stapler down with one arm the right arm.",
+    "Use the right arm to press the rectangular stapler with curved corners.",
+    "Press down on the hand-size bright blue stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the rectangular stapler with curved corners.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the right arm.",
+    "Use the right arm to press on the hand-size bright blue stapler",
+    "Use the right arm to press down on the rectangular stapler with curved corners."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode175.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place pressure on the small office stapler to staple.",
+    "Push the stapler with orange top lever until it staples.",
+    "Use your arm the right arm to push the white stapler with rounded design down.",
+    "Apply pressure to the handheld stapler with the right arm.",
+    "Push down firmly on the white body stapler with accents to complete.",
+    "Engage the small office stapler by using the right arm to press it.",
+    "Push down forcefully on the stapler the handheld stapler.",
+    "Push the stapler for fastening papers down firmly.",
+    "Firmly push down on the white body stapler with accents.",
+    "Push the stapler the paper stapler with silver tray to activate it.",
+    "Apply pressure to the plastic and metal stapler firmly",
+    "Apply pressure on the plastic and metal stapler until it works.",
+    "Use one arm the right arm to press the paper stapler with silver tray.",
+    "Push down on the white stapler with rounded design to staple",
+    "Apply force to the stapler with orange top lever with the right arm",
+    "Press the stapler for fastening papers downward using your arm the right arm.",
+    "Press the paper stapler with silver tray firmly to staple",
+    "Push down on the stapler the white stapler with rounded design.",
+    "Push down on the plastic and metal stapler firmly.",
+    "Press down on the plastic and metal stapler until it functions.",
+    "Use your the right arm to press the stapler the stapler with rounded edges.",
+    "Use an arm to press the handheld stapler",
+    "Press the stapler with rounded edges until it works",
+    "Simply press the stapler the paper stapler with silver tray downward.",
+    "Firmly press down on the small office stapler to staple.",
+    "Operate the stapler with rounded edges by pressing it with the right arm.",
+    "Press the stapler with orange top lever to complete the task.",
+    "Apply enough force to the stapler with orange top lever to press it.",
+    "Lower the right arm onto the stapler the paper stapler with silver tray.",
+    "Press the white stapler with rounded design to staple the sheets together.",
+    "Apply pressure to the white body stapler with accents using one arm the right arm.",
+    "Firmly push the handheld stapler using the right arm to operate it.",
+    "Push the paper stapler with silver tray using one arm",
+    "Press on the plastic and metal stapler to activate it.",
+    "Press down on the stapler the small office stapler firmly.",
+    "Lower the handheld stapler using an arm",
+    "Push the top of the paper stapler with silver tray down",
+    "Apply force to the stapler with orange button to staple.",
+    "Press the stapler the white body stapler with accents using an arm the right arm.",
+    "Push down hard on the stapler with orange button with the right arm.",
+    "Press on the modern design stapler using the right arm.",
+    "Push the stapler the handheld stapler to operate it.",
+    "Push the stapler the stapler with orange button with the right arm.",
+    "Use one arm to press the small office stapler.",
+    "Push the small office stapler down completely",
+    "Push down on the stapler for fastening papers to staple papers.",
+    "Firmly press the stapler with orange top lever using an arm.",
+    "Push down on the stapler the smooth plastic stapler.",
+    "Apply pressure to the white stapler with rounded design with the right arm.",
+    "Apply one arm the right arm to press the stapler with orange button firmly.",
+    "Place pressure on the white body stapler with accents to staple.",
+    "Push the stapler for fastening papers until it staples.",
+    "Use your arm the right arm to push the plastic and metal stapler down.",
+    "Apply pressure to the white stapler with rounded design with the right arm.",
+    "Push down firmly on the handheld stapler to complete.",
+    "Engage the small office stapler by using the right arm to press it.",
+    "Push down forcefully on the stapler the stapler with orange button.",
+    "Push the stapler for fastening papers down firmly.",
+    "Firmly push down on the stapler with rounded edges.",
+    "Push the stapler the modern design stapler to activate it.",
+    "Apply pressure to the white stapler with rounded design firmly",
+    "Apply pressure on the stapler with orange top lever until it works.",
+    "Use one arm the right arm to press the stapler with orange top lever.",
+    "Push down on the handheld stapler to staple",
+    "Apply force to the handheld stapler with the right arm",
+    "Press the smooth plastic stapler downward using your arm the right arm.",
+    "Press the stapler with orange button firmly to staple",
+    "Push down on the stapler the stapler with orange button.",
+    "Push down on the modern design stapler firmly.",
+    "Press down on the white body stapler with accents until it functions.",
+    "Use your the right arm to press the stapler the stapler with orange top lever.",
+    "Use an arm to press the stapler with orange button",
+    "Press the stapler with orange button until it works",
+    "Simply press the stapler the paper stapler with silver tray downward.",
+    "Firmly press down on the white body stapler with accents to staple.",
+    "Operate the white body stapler with accents by pressing it with the right arm.",
+    "Press the plastic and metal stapler to complete the task.",
+    "Apply enough force to the stapler with rounded edges to press it.",
+    "Lower the right arm onto the stapler the plastic and metal stapler.",
+    "Press the small office stapler to staple the sheets together.",
+    "Apply pressure to the smooth plastic stapler using one arm the right arm.",
+    "Firmly push the white stapler with rounded design using the right arm to operate it.",
+    "Push the plastic and metal stapler using one arm",
+    "Press on the smooth plastic stapler to activate it.",
+    "Press down on the stapler the stapler with orange button firmly.",
+    "Lower the stapler with orange button using an arm",
+    "Push the top of the small office stapler down",
+    "Apply force to the handheld stapler to staple.",
+    "Press the stapler the plastic and metal stapler using an arm the right arm.",
+    "Push down hard on the stapler for fastening papers with the right arm.",
+    "Press on the white stapler with rounded design using the right arm.",
+    "Push the stapler the paper stapler with silver tray to operate it.",
+    "Push the stapler the white body stapler with accents with the right arm.",
+    "Use one arm to press the small office stapler.",
+    "Push the plastic and metal stapler down completely",
+    "Push down on the stapler with orange top lever to staple papers.",
+    "Firmly press the stapler with orange button using an arm.",
+    "Push down on the stapler the paper stapler with silver tray.",
+    "Apply pressure to the stapler with orange button with the right arm.",
+    "Apply one arm the right arm to press the handheld stapler firmly."
+  ],
+  "unseen": [
+    "Press down on the white stapler with the right arm.",
+    "Press down on the compact stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the white stapler.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Push the white stapler with metal tray down with one arm the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press down on the white stapler.",
+    "Use the right arm to press on the white stapler",
+    "Press down on the white stapler with metal tray with the right arm",
+    "Use the right arm to press the white stapler.",
+    "Press down on the white stapler with the right arm.",
+    "Press down on the compact stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Push the white stapler down with one arm the right arm.",
+    "Press the white stapler firmly using your arm.",
+    "Use the right arm to press down on the compact stapler.",
+    "Use the right arm to press on the white stapler",
+    "Press down on the compact stapler with the right arm",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Press down on the white stapler with the right arm.",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press the stapler the white stapler with the arm the right arm.",
+    "Push the compact stapler down with one arm the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press down on the white stapler.",
+    "Use the right arm to press on the white stapler",
+    "Press down on the white stapler with the right arm",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Press down on the white stapler with metal tray with the right arm.",
+    "Press down on the compact stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Push the white stapler with metal tray down with one arm the right arm.",
+    "Press the white stapler firmly using your arm.",
+    "Use the right arm to press down on the white stapler.",
+    "Use the right arm to press on the white stapler",
+    "Press down on the white stapler with metal tray with the right arm",
+    "Use the right arm to press the white stapler.",
+    "Press down on the compact stapler with the right arm.",
+    "Press down on the white stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press the stapler the white stapler with metal tray with the arm the right arm.",
+    "Push the white stapler with metal tray down with one arm the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press down on the white stapler with metal tray.",
+    "Use the right arm to press on the white stapler with metal tray",
+    "Press down on the white stapler with the right arm",
+    "Use the right arm to press the compact stapler.",
+    "Press down on the compact stapler with the right arm.",
+    "Press down on the compact stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the white stapler with metal tray.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Push the white stapler with metal tray down with one arm the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press down on the compact stapler.",
+    "Use the right arm to press on the compact stapler",
+    "Press down on the white stapler with metal tray with the right arm",
+    "Use the right arm to press the white stapler.",
+    "Press down on the white stapler with the right arm.",
+    "Press down on the white stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the white stapler.",
+    "Press the stapler the white stapler with the arm the right arm.",
+    "Push the compact stapler down with one arm the right arm.",
+    "Press the white stapler firmly using your arm.",
+    "Use the right arm to press down on the white stapler.",
+    "Use the right arm to press on the white stapler with metal tray",
+    "Press down on the compact stapler with the right arm",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Press down on the white stapler with metal tray with the right arm.",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Use the right arm to press the stapler the white stapler with metal tray.",
+    "Press the stapler the white stapler with the arm the right arm.",
+    "Push the white stapler down with one arm the right arm.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the right arm to press down on the compact stapler.",
+    "Use the right arm to press on the compact stapler",
+    "Press down on the white stapler with the right arm",
+    "Use the right arm to press the white stapler.",
+    "Press down on the white stapler with the right arm.",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Use the right arm to press the stapler the white stapler with metal tray.",
+    "Press the stapler the white stapler with metal tray with the arm the right arm.",
+    "Push the compact stapler down with one arm the right arm.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the right arm to press down on the compact stapler.",
+    "Use the right arm to press on the white stapler with metal tray",
+    "Press down on the compact stapler with the right arm",
+    "Use the right arm to press the compact stapler.",
+    "Press down on the white stapler with the right arm.",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Push the compact stapler down with one arm the right arm.",
+    "Press the white stapler firmly using your arm.",
+    "Use the right arm to press down on the white stapler with metal tray.",
+    "Use the right arm to press on the white stapler",
+    "Press down on the compact stapler with the right arm",
+    "Use the right arm to press the compact stapler."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode193.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simply press the stapler the stapler with silver staple tray downward.",
+    "Press the stapler with silver inner plates firmly to staple",
+    "Press the black stapler with smooth finish to complete the task.",
+    "Use an arm to press the stapler with silver inner plates",
+    "Push down on the stapler with silver inner plates firmly.",
+    "Push down on the stapler the black stapler with smooth finish.",
+    "Place pressure on the black stapler with shiny interior to staple.",
+    "Push down on the stapler the black stapler with shiny interior.",
+    "Firmly press the compact black stapler using an arm.",
+    "Press on the compact black stapler to activate it.",
+    "Use one arm to press the black smooth-textured stapler.",
+    "Push down on the stapler with silver staple tray to staple papers.",
+    "Operate the black stapler with shiny interior by pressing it with the right arm.",
+    "Apply force to the stapler with silver staple tray to staple.",
+    "Use one arm the right arm to press the black stapler with curved top.",
+    "Lower the right arm onto the stapler the stapler with silver inner plates.",
+    "Push the compact black stapler down firmly.",
+    "Push the top of the handheld black stapler down",
+    "Press down on the stapler the black stapler with rectangular base firmly.",
+    "Firmly push down on the small black stapler with metal core.",
+    "Firmly press down on the small black stapler with metal core to staple.",
+    "Press down on the curved black stapler until it functions.",
+    "Press the compact black stapler downward using your arm the right arm.",
+    "Push the stapler the black stapler with curved top to activate it.",
+    "Push down on the handheld black stapler to staple",
+    "Push the black stapler with smooth finish using one arm",
+    "Push the stapler the black smooth-textured stapler to operate it.",
+    "Push down firmly on the compact black stapler to complete.",
+    "Apply pressure to the stapler with silver inner plates with the right arm.",
+    "Use your the right arm to press the stapler the black stapler with shiny interior.",
+    "Apply pressure to the curved black stapler using one arm the right arm.",
+    "Press on the small black stapler with metal core using the right arm.",
+    "Press the stapler with silver staple tray until it works",
+    "Push the compact black stapler until it staples.",
+    "Lower the curved black stapler using an arm",
+    "Apply force to the handheld black stapler with the right arm",
+    "Use your arm the right arm to push the compact black stapler down.",
+    "Apply one arm the right arm to press the curved black stapler firmly.",
+    "Push the stapler the black stapler for joining pages with the right arm.",
+    "Apply pressure to the handheld black stapler with the right arm.",
+    "Push down forcefully on the stapler the stapler with silver inner plates.",
+    "Apply pressure to the black stapler with shiny interior firmly",
+    "Engage the black stapler with rectangular base by using the right arm to press it.",
+    "Firmly push the black stapler with curved top using the right arm to operate it.",
+    "Press the stapler the curved black stapler using an arm the right arm.",
+    "Push down hard on the black smooth-textured stapler with the right arm.",
+    "Press the stapler with silver staple tray to staple the sheets together.",
+    "Apply enough force to the handheld black stapler to press it.",
+    "Apply pressure on the stapler with silver inner plates until it works.",
+    "Push the black smooth-textured stapler down completely",
+    "Simply press the stapler the stapler with silver staple tray downward.",
+    "Press the small black stapler with metal core firmly to staple",
+    "Press the black smooth-textured stapler to complete the task.",
+    "Use an arm to press the compact black stapler",
+    "Push down on the compact black stapler firmly.",
+    "Push down on the stapler the black stapler with shiny interior.",
+    "Place pressure on the black stapler with rectangular base to staple.",
+    "Push down on the stapler the handheld black stapler.",
+    "Firmly press the black stapler with rectangular base using an arm.",
+    "Press on the black stapler for joining pages to activate it.",
+    "Use one arm to press the black stapler with smooth finish.",
+    "Push down on the small black stapler with metal core to staple papers.",
+    "Operate the handheld black stapler by pressing it with the right arm.",
+    "Apply force to the black stapler for joining pages to staple.",
+    "Use one arm the right arm to press the curved black stapler.",
+    "Lower the right arm onto the stapler the handheld black stapler.",
+    "Push the black stapler with shiny interior down firmly.",
+    "Push the top of the black smooth-textured stapler down",
+    "Press down on the stapler the small black stapler with metal core firmly.",
+    "Firmly push down on the compact black stapler.",
+    "Firmly press down on the black stapler for joining pages to staple.",
+    "Press down on the black stapler with rectangular base until it functions.",
+    "Press the black stapler for joining pages downward using your arm the right arm.",
+    "Push the stapler the black stapler with smooth finish to activate it.",
+    "Push down on the black stapler with curved top to staple",
+    "Push the black stapler with rectangular base using one arm",
+    "Push the stapler the small black stapler with metal core to operate it.",
+    "Push down firmly on the compact black stapler to complete.",
+    "Apply pressure to the black stapler with smooth finish with the right arm.",
+    "Use your the right arm to press the stapler the stapler with silver staple tray.",
+    "Apply pressure to the stapler with silver inner plates using one arm the right arm.",
+    "Press on the curved black stapler using the right arm.",
+    "Press the black smooth-textured stapler until it works",
+    "Push the stapler with silver inner plates until it staples.",
+    "Lower the black stapler with smooth finish using an arm",
+    "Apply force to the stapler with silver inner plates with the right arm",
+    "Use your arm the right arm to push the stapler with silver inner plates down.",
+    "Apply one arm the right arm to press the curved black stapler firmly.",
+    "Push the stapler the stapler with silver staple tray with the right arm.",
+    "Apply pressure to the black stapler for joining pages with the right arm.",
+    "Push down forcefully on the stapler the small black stapler with metal core.",
+    "Apply pressure to the small black stapler with metal core firmly",
+    "Engage the small black stapler with metal core by using the right arm to press it.",
+    "Firmly push the black stapler for joining pages using the right arm to operate it.",
+    "Press the stapler the black stapler for joining pages using an arm the right arm.",
+    "Push down hard on the stapler with silver staple tray with the right arm.",
+    "Press the black stapler with curved top to staple the sheets together.",
+    "Apply enough force to the black stapler with shiny interior to press it.",
+    "Apply pressure on the black stapler for joining pages until it works.",
+    "Push the black stapler with rectangular base down completely"
+  ],
+  "unseen": [
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the black stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the black stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the black stapler",
+    "Press down on the palm-sized black stapler with the right arm",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the black stapler",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the black stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Push the black stapler down with one arm the right arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Push the black stapler down with one arm the right arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Push the black stapler down with one arm the right arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode199.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the small stapler firmly to staple",
+    "Firmly press down on the stapler with white metallic components to staple.",
+    "Apply one arm the left arm to press the stapler with white metallic components firmly.",
+    "Press the stapler the metal and plastic stapler using an arm the left arm.",
+    "Push down on the small lightweight blue stapler to staple",
+    "Push down hard on the metal and plastic stapler with the left arm.",
+    "Apply pressure to the blue stapler with black handle area with the left arm.",
+    "Press on the compact blue stapler to activate it.",
+    "Push the stapler the stapler with white metallic components to activate it.",
+    "Apply pressure on the blue stapler with curved design until it works.",
+    "Push the small lightweight blue stapler down completely",
+    "Push the stapler the stapler with black top section to operate it.",
+    "Use one arm the left arm to press the small lightweight blue stapler.",
+    "Push down on the stapler the blue stapler with curved design.",
+    "Push down on the stapler the stapler with black top section.",
+    "Firmly push the stapler with black top section using the left arm to operate it.",
+    "Apply enough force to the small stapler to press it.",
+    "Apply force to the metal and plastic stapler with the left arm",
+    "Push down forcefully on the stapler the small stapler.",
+    "Apply pressure to the plastic blue stapler with metal parts firmly",
+    "Firmly push down on the compact blue stapler.",
+    "Lower the left arm onto the stapler the handheld stapler.",
+    "Apply pressure to the blue stapler with curved design using one arm the left arm.",
+    "Use your the left arm to press the stapler the small stapler.",
+    "Use an arm to press the compact blue stapler",
+    "Operate the stapler with white metallic components by pressing it with the left arm.",
+    "Press on the blue stapler with black handle area using the left arm.",
+    "Press down on the stapler the blue stapler firmly.",
+    "Place pressure on the blue stapler with curved design to staple.",
+    "Firmly press the stapler with black top section using an arm.",
+    "Engage the blue stapler with black handle area by using the left arm to press it.",
+    "Use one arm to press the plastic blue stapler with metal parts.",
+    "Use your arm the left arm to push the stapler for stapling paper down.",
+    "Push the metal and plastic stapler until it staples.",
+    "Press the compact blue stapler to complete the task.",
+    "Press the handheld stapler downward using your arm the left arm.",
+    "Simply press the stapler the small lightweight blue stapler downward.",
+    "Push the top of the small stapler down",
+    "Push down on the stapler with white metallic components to staple papers.",
+    "Apply force to the stapler for stapling paper to staple.",
+    "Press the stapler for stapling paper until it works",
+    "Push down firmly on the small stapler to complete.",
+    "Apply pressure to the compact blue stapler with the left arm.",
+    "Lower the blue stapler with curved design using an arm",
+    "Push the stapler with white metallic components down firmly.",
+    "Push the stapler the metal and plastic stapler with the left arm.",
+    "Push down on the stapler with white metallic components firmly.",
+    "Press the handheld stapler to staple the sheets together.",
+    "Push the plastic blue stapler with metal parts using one arm",
+    "Press down on the blue stapler with curved design until it functions.",
+    "Press the handheld stapler firmly to staple",
+    "Firmly press down on the stapler with black top section to staple.",
+    "Apply one arm the left arm to press the small lightweight blue stapler firmly.",
+    "Press the stapler the plastic blue stapler with metal parts using an arm the left arm.",
+    "Push down on the blue stapler to staple",
+    "Push down hard on the blue stapler with black handle area with the left arm.",
+    "Apply pressure to the blue stapler with the left arm.",
+    "Press on the small stapler to activate it.",
+    "Push the stapler the handheld stapler to activate it.",
+    "Apply pressure on the small lightweight blue stapler until it works.",
+    "Push the blue stapler down completely",
+    "Push the stapler the compact blue stapler to operate it.",
+    "Use one arm the left arm to press the plastic blue stapler with metal parts.",
+    "Push down on the stapler the blue stapler with curved design.",
+    "Push down on the stapler the metal and plastic stapler.",
+    "Firmly push the small lightweight blue stapler using the left arm to operate it.",
+    "Apply enough force to the plastic blue stapler with metal parts to press it.",
+    "Apply force to the handheld stapler with the left arm",
+    "Push down forcefully on the stapler the small lightweight blue stapler.",
+    "Apply pressure to the compact blue stapler firmly",
+    "Firmly push down on the stapler with white metallic components.",
+    "Lower the left arm onto the stapler the handheld stapler.",
+    "Apply pressure to the stapler with black top section using one arm the left arm.",
+    "Use your the left arm to press the stapler the small stapler.",
+    "Use an arm to press the small lightweight blue stapler",
+    "Operate the stapler for stapling paper by pressing it with the left arm.",
+    "Press on the handheld stapler using the left arm.",
+    "Press down on the stapler the handheld stapler firmly.",
+    "Place pressure on the stapler with black top section to staple.",
+    "Firmly press the stapler with white metallic components using an arm.",
+    "Engage the metal and plastic stapler by using the left arm to press it.",
+    "Use one arm to press the blue stapler with black handle area.",
+    "Use your arm the left arm to push the small stapler down.",
+    "Push the metal and plastic stapler until it staples.",
+    "Press the small stapler to complete the task.",
+    "Press the blue stapler with curved design downward using your arm the left arm.",
+    "Simply press the stapler the handheld stapler downward.",
+    "Push the top of the stapler for stapling paper down",
+    "Push down on the blue stapler with black handle area to staple papers.",
+    "Apply force to the small lightweight blue stapler to staple.",
+    "Press the handheld stapler until it works",
+    "Push down firmly on the stapler for stapling paper to complete.",
+    "Apply pressure to the handheld stapler with the left arm.",
+    "Lower the stapler with black top section using an arm",
+    "Push the blue stapler with black handle area down firmly.",
+    "Push the stapler the plastic blue stapler with metal parts with the left arm.",
+    "Push down on the stapler for stapling paper firmly.",
+    "Press the small stapler to staple the sheets together.",
+    "Push the stapler for stapling paper using one arm",
+    "Press down on the compact blue stapler until it functions."
+  ],
+  "unseen": [
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Push the stapler with white loading section down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Use the left arm to press the blue stapler with smooth finish.",
+    "Use the left arm to press the stapler the stapler with white loading section.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the left arm to press on the plastic stapler",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press down on the plastic stapler with the left arm",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the left arm.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press down on the plastic stapler with the left arm",
+    "Press down on the plastic stapler with the left arm.",
+    "Use the left arm to press the blue stapler with smooth finish.",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Press down on the plastic stapler with the left arm.",
+    "Use the left arm to press the plastic stapler.",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Press down on the blue stapler with smooth finish firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press down on the plastic stapler with the left arm",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Use the left arm to press the stapler the stapler with white loading section.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Push the stapler with white loading section down with one arm the left arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press down on the stapler with white loading section with the left arm",
+    "Press down on the plastic stapler with the left arm.",
+    "Use the left arm to press the plastic stapler.",
+    "Use the left arm to press the stapler the stapler with white loading section.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Push the stapler with white loading section down with one arm the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press down on the plastic stapler with the left arm",
+    "Press down on the plastic stapler with the left arm.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press down on the plastic stapler with the left arm",
+    "Press down on the plastic stapler with the left arm.",
+    "Use the left arm to press the plastic stapler.",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the plastic stapler",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Use the left arm to press the blue stapler with smooth finish."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode221.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use your arm the left arm to push the plastic blue stapler with metal parts down.",
+    "Use one arm to press the plastic blue stapler with metal parts.",
+    "Apply pressure on the compact blue stapler until it works.",
+    "Push down on the small lightweight blue stapler to staple papers.",
+    "Apply pressure to the stapler with white metallic components using one arm the left arm.",
+    "Apply enough force to the blue stapler to press it.",
+    "Apply pressure to the small stapler firmly",
+    "Push the compact blue stapler using one arm",
+    "Firmly press down on the plastic blue stapler with metal parts to staple.",
+    "Press on the small stapler to activate it.",
+    "Operate the handheld stapler by pressing it with the left arm.",
+    "Push the stapler the small stapler to activate it.",
+    "Apply pressure to the small stapler with the left arm.",
+    "Use your the left arm to press the stapler the handheld stapler.",
+    "Push down hard on the plastic blue stapler with metal parts with the left arm.",
+    "Simply press the stapler the blue stapler with black handle area downward.",
+    "Press the small lightweight blue stapler downward using your arm the left arm.",
+    "Lower the left arm onto the stapler the blue stapler with curved design.",
+    "Use an arm to press the stapler with black top section",
+    "Push down firmly on the blue stapler with black handle area to complete.",
+    "Push the stapler for stapling paper down firmly.",
+    "Press down on the stapler the small lightweight blue stapler firmly.",
+    "Press the small lightweight blue stapler to staple the sheets together.",
+    "Press down on the plastic blue stapler with metal parts until it functions.",
+    "Push down on the compact blue stapler to staple",
+    "Push down on the plastic blue stapler with metal parts firmly.",
+    "Press the stapler the metal and plastic stapler using an arm the left arm.",
+    "Apply one arm the left arm to press the stapler for stapling paper firmly.",
+    "Use one arm the left arm to press the compact blue stapler.",
+    "Lower the plastic blue stapler with metal parts using an arm",
+    "Push down on the stapler the stapler with black top section.",
+    "Apply pressure to the blue stapler with the left arm.",
+    "Engage the compact blue stapler by using the left arm to press it.",
+    "Press the stapler for stapling paper to complete the task.",
+    "Push the small lightweight blue stapler until it staples.",
+    "Apply force to the stapler for stapling paper to staple.",
+    "Place pressure on the stapler with black top section to staple.",
+    "Press on the stapler for stapling paper using the left arm.",
+    "Push the stapler the blue stapler with black handle area to operate it.",
+    "Firmly push down on the plastic blue stapler with metal parts.",
+    "Push the top of the blue stapler down",
+    "Push down forcefully on the stapler the compact blue stapler.",
+    "Push the small lightweight blue stapler down completely",
+    "Firmly push the metal and plastic stapler using the left arm to operate it.",
+    "Firmly press the compact blue stapler using an arm.",
+    "Apply force to the stapler with white metallic components with the left arm",
+    "Press the small lightweight blue stapler until it works",
+    "Press the stapler with black top section firmly to staple",
+    "Push the stapler the small lightweight blue stapler with the left arm.",
+    "Push down on the stapler the plastic blue stapler with metal parts.",
+    "Use your arm the left arm to push the stapler for stapling paper down.",
+    "Use one arm to press the plastic blue stapler with metal parts.",
+    "Apply pressure on the stapler with white metallic components until it works.",
+    "Push down on the stapler with white metallic components to staple papers.",
+    "Apply pressure to the compact blue stapler using one arm the left arm.",
+    "Apply enough force to the stapler for stapling paper to press it.",
+    "Apply pressure to the small lightweight blue stapler firmly",
+    "Push the handheld stapler using one arm",
+    "Firmly press down on the compact blue stapler to staple.",
+    "Press on the handheld stapler to activate it.",
+    "Operate the small lightweight blue stapler by pressing it with the left arm.",
+    "Push the stapler the small stapler to activate it.",
+    "Apply pressure to the blue stapler with the left arm.",
+    "Use your the left arm to press the stapler the small lightweight blue stapler.",
+    "Push down hard on the metal and plastic stapler with the left arm.",
+    "Simply press the stapler the handheld stapler downward.",
+    "Press the compact blue stapler downward using your arm the left arm.",
+    "Lower the left arm onto the stapler the plastic blue stapler with metal parts.",
+    "Use an arm to press the blue stapler with curved design",
+    "Push down firmly on the blue stapler to complete.",
+    "Push the compact blue stapler down firmly.",
+    "Press down on the stapler the metal and plastic stapler firmly.",
+    "Press the blue stapler with black handle area to staple the sheets together.",
+    "Press down on the metal and plastic stapler until it functions.",
+    "Push down on the handheld stapler to staple",
+    "Push down on the stapler with white metallic components firmly.",
+    "Press the stapler the handheld stapler using an arm the left arm.",
+    "Apply one arm the left arm to press the small stapler firmly.",
+    "Use one arm the left arm to press the metal and plastic stapler.",
+    "Lower the stapler with white metallic components using an arm",
+    "Push down on the stapler the metal and plastic stapler.",
+    "Apply pressure to the stapler for stapling paper with the left arm.",
+    "Engage the blue stapler by using the left arm to press it.",
+    "Press the metal and plastic stapler to complete the task.",
+    "Push the blue stapler with curved design until it staples.",
+    "Apply force to the blue stapler with curved design to staple.",
+    "Place pressure on the blue stapler to staple.",
+    "Press on the metal and plastic stapler using the left arm.",
+    "Push the stapler the small lightweight blue stapler to operate it.",
+    "Firmly push down on the metal and plastic stapler.",
+    "Push the top of the compact blue stapler down",
+    "Push down forcefully on the stapler the compact blue stapler.",
+    "Push the small lightweight blue stapler down completely",
+    "Firmly push the compact blue stapler using the left arm to operate it.",
+    "Firmly press the plastic blue stapler with metal parts using an arm.",
+    "Apply force to the handheld stapler with the left arm",
+    "Press the small stapler until it works",
+    "Press the compact blue stapler firmly to staple",
+    "Push the stapler the handheld stapler with the left arm.",
+    "Push down on the stapler the stapler with white metallic components."
+  ],
+  "unseen": [
+    "Push the plastic stapler down with one arm the left arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the plastic stapler.",
+    "Press down on the blue stapler with smooth finish firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section with the left arm",
+    "Push the stapler with white loading section down with one arm the left arm.",
+    "Use the left arm to press on the plastic stapler",
+    "Use the left arm to press the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish firmly using the left arm.",
+    "Use the left arm to press down on the stapler with white loading section.",
+    "Press the plastic stapler firmly using your arm.",
+    "Press down on the blue stapler with smooth finish with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Use the left arm to press the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish firmly using the left arm.",
+    "Use the left arm to press down on the stapler with white loading section.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section with the left arm",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Press down on the plastic stapler with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Press down on the plastic stapler with the left arm",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Use the left arm to press on the plastic stapler",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press the plastic stapler firmly using your arm.",
+    "Press down on the plastic stapler with the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Push the stapler with white loading section down with one arm the left arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Press down on the plastic stapler with the left arm",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the plastic stapler.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the stapler with white loading section.",
+    "Press the plastic stapler firmly using your arm.",
+    "Press down on the plastic stapler with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section with the left arm",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Press down on the plastic stapler with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Press down on the stapler with white loading section with the left arm",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Use the left arm to press the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Push the stapler with white loading section down with one arm the left arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Use the left arm to press the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish firmly using the left arm.",
+    "Use the left arm to press down on the stapler with white loading section.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Press down on the blue stapler with smooth finish with the left arm.",
+    "Press the stapler the plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section with the left arm"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode243.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the black stapler with shiny interior by pressing it with the left arm.",
+    "Push down on the black stapler with shiny interior to staple",
+    "Use your the left arm to press the stapler the black stapler with rectangular base.",
+    "Press the black stapler with shiny interior downward using your arm the left arm.",
+    "Push the black stapler with rectangular base using one arm",
+    "Press the curved black stapler firmly to staple",
+    "Apply force to the stapler with silver inner plates with the left arm",
+    "Push the stapler the small black stapler with metal core to operate it.",
+    "Apply force to the stapler with silver inner plates to staple.",
+    "Lower the black stapler with curved top using an arm",
+    "Apply pressure to the stapler with silver staple tray with the left arm.",
+    "Press on the black stapler with curved top to activate it.",
+    "Press down on the stapler the black stapler with curved top firmly.",
+    "Press the small black stapler with metal core until it works",
+    "Place pressure on the curved black stapler to staple.",
+    "Apply enough force to the black stapler with curved top to press it.",
+    "Firmly press the stapler with silver inner plates using an arm.",
+    "Engage the black stapler with smooth finish by using the left arm to press it.",
+    "Use an arm to press the small black stapler with metal core",
+    "Push down hard on the black stapler for joining pages with the left arm.",
+    "Push the stapler the handheld black stapler to activate it.",
+    "Firmly press down on the black stapler with smooth finish to staple.",
+    "Use one arm the left arm to press the black stapler with rectangular base.",
+    "Apply pressure to the black stapler with rectangular base with the left arm.",
+    "Push down forcefully on the stapler the stapler with silver inner plates.",
+    "Apply pressure to the black smooth-textured stapler firmly",
+    "Use one arm to press the stapler with silver staple tray.",
+    "Push the top of the black stapler with smooth finish down",
+    "Push the stapler the curved black stapler with the left arm.",
+    "Simply press the stapler the handheld black stapler downward.",
+    "Push the small black stapler with metal core until it staples.",
+    "Push down on the black stapler for joining pages firmly.",
+    "Push down on the stapler the curved black stapler.",
+    "Push down on the stapler the black stapler with curved top.",
+    "Apply pressure on the small black stapler with metal core until it works.",
+    "Use your arm the left arm to push the black stapler with curved top down.",
+    "Firmly push down on the compact black stapler.",
+    "Press on the compact black stapler using the left arm.",
+    "Push down firmly on the stapler with silver staple tray to complete.",
+    "Push the stapler with silver staple tray down firmly.",
+    "Press down on the compact black stapler until it functions.",
+    "Lower the left arm onto the stapler the compact black stapler.",
+    "Press the black stapler with curved top to staple the sheets together.",
+    "Press the stapler with silver staple tray to complete the task.",
+    "Apply one arm the left arm to press the black smooth-textured stapler firmly.",
+    "Press the stapler the compact black stapler using an arm the left arm.",
+    "Push down on the black stapler with rectangular base to staple papers.",
+    "Apply pressure to the black smooth-textured stapler using one arm the left arm.",
+    "Firmly push the black stapler for joining pages using the left arm to operate it.",
+    "Push the compact black stapler down completely",
+    "Operate the black stapler with curved top by pressing it with the left arm.",
+    "Push down on the curved black stapler to staple",
+    "Use your the left arm to press the stapler the small black stapler with metal core.",
+    "Press the handheld black stapler downward using your arm the left arm.",
+    "Push the stapler with silver staple tray using one arm",
+    "Press the black smooth-textured stapler firmly to staple",
+    "Apply force to the handheld black stapler with the left arm",
+    "Push the stapler the small black stapler with metal core to operate it.",
+    "Apply force to the black smooth-textured stapler to staple.",
+    "Lower the black stapler with shiny interior using an arm",
+    "Apply pressure to the black stapler for joining pages with the left arm.",
+    "Press on the small black stapler with metal core to activate it.",
+    "Press down on the stapler the small black stapler with metal core firmly.",
+    "Press the black stapler with rectangular base until it works",
+    "Place pressure on the compact black stapler to staple.",
+    "Apply enough force to the black stapler with smooth finish to press it.",
+    "Firmly press the small black stapler with metal core using an arm.",
+    "Engage the handheld black stapler by using the left arm to press it.",
+    "Use an arm to press the small black stapler with metal core",
+    "Push down hard on the stapler with silver staple tray with the left arm.",
+    "Push the stapler the compact black stapler to activate it.",
+    "Firmly press down on the handheld black stapler to staple.",
+    "Use one arm the left arm to press the black smooth-textured stapler.",
+    "Apply pressure to the black stapler with shiny interior with the left arm.",
+    "Push down forcefully on the stapler the stapler with silver inner plates.",
+    "Apply pressure to the black stapler with rectangular base firmly",
+    "Use one arm to press the compact black stapler.",
+    "Push the top of the small black stapler with metal core down",
+    "Push the stapler the black smooth-textured stapler with the left arm.",
+    "Simply press the stapler the curved black stapler downward.",
+    "Push the black stapler with smooth finish until it staples.",
+    "Push down on the stapler with silver inner plates firmly.",
+    "Push down on the stapler the stapler with silver staple tray.",
+    "Push down on the stapler the black stapler for joining pages.",
+    "Apply pressure on the black smooth-textured stapler until it works.",
+    "Use your arm the left arm to push the stapler with silver inner plates down.",
+    "Firmly push down on the black smooth-textured stapler.",
+    "Press on the black stapler with smooth finish using the left arm.",
+    "Push down firmly on the black smooth-textured stapler to complete.",
+    "Push the black stapler with shiny interior down firmly.",
+    "Press down on the black stapler with curved top until it functions.",
+    "Lower the left arm onto the stapler the stapler with silver staple tray.",
+    "Press the handheld black stapler to staple the sheets together.",
+    "Press the black stapler for joining pages to complete the task.",
+    "Apply one arm the left arm to press the black stapler with shiny interior firmly.",
+    "Press the stapler the black smooth-textured stapler using an arm the left arm.",
+    "Push down on the black stapler with rectangular base to staple papers.",
+    "Apply pressure to the curved black stapler using one arm the left arm.",
+    "Firmly push the black smooth-textured stapler using the left arm to operate it.",
+    "Push the black stapler for joining pages down completely"
+  ],
+  "unseen": [
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press the black stapler.",
+    "Press down on the black stapler firmly using the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Use the left arm to press on the black stapler",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Use the left arm to press the black stapler.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the stapler the black stapler.",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press the black stapler.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Use the left arm to press the black stapler.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Use the left arm to press the stapler the black stapler.",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Use the left arm to press the stapler the black stapler.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press the black stapler.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode258.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Apply pressure to the desk stapler with red body with the right arm.",
+    "Simply press the stapler the manual stapler with black base downward.",
+    "Place pressure on the compact office stapler to staple.",
+    "Press the stapler for fastening papers to complete the task.",
+    "Push the top of the manual stapler with black base down",
+    "Apply pressure on the desk stapler with red body until it works.",
+    "Push down forcefully on the stapler the stapler for fastening papers.",
+    "Apply pressure to the red stapler with black base with the right arm.",
+    "Press down on the desk stapler with red body until it functions.",
+    "Push the stapler the red stapler with black base to operate it.",
+    "Apply pressure to the desk stapler with red body using one arm the right arm.",
+    "Push down on the stapler the stapler with red top.",
+    "Press the stapler with red top until it works",
+    "Push the stapler with metallic staple slot down firmly.",
+    "Push down on the stapler the manual stapler with black base.",
+    "Apply pressure to the red stapler with black base firmly",
+    "Push the stapler the desk stapler with red body to activate it.",
+    "Push down hard on the red plastic stapler with smooth top with the right arm.",
+    "Push down on the stapler with red top to staple papers.",
+    "Press the small handheld stapler firmly to staple",
+    "Press down on the stapler the red stapler with black base firmly.",
+    "Operate the stapler with red top by pressing it with the right arm.",
+    "Lower the right arm onto the stapler the red stapler with black base.",
+    "Apply force to the red plastic stapler with smooth top with the right arm",
+    "Apply force to the compact office stapler to staple.",
+    "Use one arm to press the stapler with metallic staple slot.",
+    "Use your the right arm to press the stapler the red plastic stapler with smooth top.",
+    "Use one arm the right arm to press the desk stapler with red body.",
+    "Push the office stapler with plastic and metal parts using one arm",
+    "Push the red stapler until it staples.",
+    "Push down firmly on the red top black bottom stapler to complete.",
+    "Firmly press the red stapler with black base using an arm.",
+    "Push down on the stapler with red top firmly.",
+    "Press on the red plastic stapler with smooth top using the right arm.",
+    "Press the red stapler with black base downward using your arm the right arm.",
+    "Apply one arm the right arm to press the red stapler firmly.",
+    "Press the stapler the stapler with red top using an arm the right arm.",
+    "Firmly push down on the red stapler.",
+    "Use your arm the right arm to push the red top black bottom stapler down.",
+    "Lower the red plastic stapler with smooth top using an arm",
+    "Press on the red plastic stapler with smooth top to activate it.",
+    "Press the desk stapler with red body to staple the sheets together.",
+    "Push down on the red plastic stapler with smooth top to staple",
+    "Use an arm to press the red top black bottom stapler",
+    "Push the office stapler with plastic and metal parts down completely",
+    "Firmly press down on the red plastic stapler with smooth top to staple.",
+    "Apply enough force to the desk stapler with red body to press it.",
+    "Push the stapler the office stapler with plastic and metal parts with the right arm.",
+    "Firmly push the red stapler with black base using the right arm to operate it.",
+    "Engage the office stapler with plastic and metal parts by using the right arm to press it.",
+    "Apply pressure to the office stapler with plastic and metal parts with the right arm.",
+    "Simply press the stapler the small handheld stapler downward.",
+    "Place pressure on the small handheld stapler to staple.",
+    "Press the stapler for fastening papers to complete the task.",
+    "Push the top of the small handheld stapler down",
+    "Apply pressure on the red stapler until it works.",
+    "Push down forcefully on the stapler the stapler with metallic staple slot.",
+    "Apply pressure to the stapler with metallic staple slot with the right arm.",
+    "Press down on the office stapler with plastic and metal parts until it functions.",
+    "Push the stapler the compact office stapler to operate it.",
+    "Apply pressure to the red stapler with black base using one arm the right arm.",
+    "Push down on the stapler the stapler with metallic staple slot.",
+    "Press the desk stapler with red body until it works",
+    "Push the stapler with metallic staple slot down firmly.",
+    "Push down on the stapler the red top black bottom stapler.",
+    "Apply pressure to the red top black bottom stapler firmly",
+    "Push the stapler the red top black bottom stapler to activate it.",
+    "Push down hard on the red stapler with the right arm.",
+    "Push down on the red plastic stapler with smooth top to staple papers.",
+    "Press the manual stapler with black base firmly to staple",
+    "Press down on the stapler the office stapler with plastic and metal parts firmly.",
+    "Operate the stapler with red top by pressing it with the right arm.",
+    "Lower the right arm onto the stapler the stapler with red top.",
+    "Apply force to the compact office stapler with the right arm",
+    "Apply force to the stapler with metallic staple slot to staple.",
+    "Use one arm to press the compact office stapler.",
+    "Use your the right arm to press the stapler the red stapler.",
+    "Use one arm the right arm to press the red stapler.",
+    "Push the red stapler using one arm",
+    "Push the red stapler with black base until it staples.",
+    "Push down firmly on the office stapler with plastic and metal parts to complete.",
+    "Firmly press the stapler for fastening papers using an arm.",
+    "Push down on the desk stapler with red body firmly.",
+    "Press on the manual stapler with black base using the right arm.",
+    "Press the red stapler with black base downward using your arm the right arm.",
+    "Apply one arm the right arm to press the desk stapler with red body firmly.",
+    "Press the stapler the stapler with red top using an arm the right arm.",
+    "Firmly push down on the desk stapler with red body.",
+    "Use your arm the right arm to push the red top black bottom stapler down.",
+    "Lower the red stapler using an arm",
+    "Press on the red top black bottom stapler to activate it.",
+    "Press the stapler for fastening papers to staple the sheets together.",
+    "Push down on the manual stapler with black base to staple",
+    "Use an arm to press the red plastic stapler with smooth top",
+    "Push the desk stapler with red body down completely",
+    "Firmly press down on the red plastic stapler with smooth top to staple.",
+    "Apply enough force to the small handheld stapler to press it.",
+    "Push the stapler the desk stapler with red body with the right arm.",
+    "Firmly push the small handheld stapler using the right arm to operate it.",
+    "Engage the red stapler by using the right arm to press it."
+  ],
+  "unseen": [
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the paper stapler with curved handle."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode336.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use your the left arm to press the stapler the blue rectangular stapler with curves.",
+    "Firmly push the handy blue stapler with metal parts using the left arm to operate it.",
+    "Push the stapler the blue stapler for paper fastening to operate it.",
+    "Push down on the compact bright blue stapler to staple",
+    "Apply force to the blue stapler for paper fastening with the left arm",
+    "Push down on the stapler the plastic stapler with metallic interior.",
+    "Simply press the stapler the plastic stapler with metallic interior downward.",
+    "Push the stapler the simple stapler with the left arm.",
+    "Apply pressure to the blue stapler with silver staple tray using one arm the left arm.",
+    "Use your arm the left arm to push the bright blue smooth stapler down.",
+    "Push the blue stapler with silver staple tray using one arm",
+    "Press on the blue stapler for paper fastening using the left arm.",
+    "Press the blue stapler for paper fastening downward using your arm the left arm.",
+    "Apply pressure to the blue stapler with the left arm.",
+    "Lower the left arm onto the stapler the blue stapler with silver staple tray.",
+    "Push down on the blue stapler to staple papers.",
+    "Press the handy blue stapler with metal parts firmly to staple",
+    "Engage the blue stapler for paper fastening by using the left arm to press it.",
+    "Press the stapler the blue stapler using an arm the left arm.",
+    "Press on the stapler with blue plastic handle to activate it.",
+    "Apply pressure to the plastic stapler with metallic interior with the left arm.",
+    "Operate the handy blue stapler with metal parts by pressing it with the left arm.",
+    "Push down on the stapler the simple stapler.",
+    "Push down hard on the simple stapler with the left arm.",
+    "Use one arm to press the blue stapler for paper fastening.",
+    "Press the blue rectangular stapler with curves to staple the sheets together.",
+    "Push the blue rectangular stapler with curves down firmly.",
+    "Press the plastic stapler with metallic interior to complete the task.",
+    "Push the stapler the plastic stapler with metallic interior to activate it.",
+    "Lower the blue stapler with white accents using an arm",
+    "Use an arm to press the handy blue stapler with metal parts",
+    "Firmly push down on the blue stapler with white accents.",
+    "Firmly press the simple stapler using an arm.",
+    "Apply force to the blue stapler with white accents to staple.",
+    "Use one arm the left arm to press the blue stapler for paper fastening.",
+    "Press down on the plastic stapler with silver mechanism until it functions.",
+    "Apply one arm the left arm to press the handy blue stapler with metal parts firmly.",
+    "Push down forcefully on the stapler the blue stapler with white accents.",
+    "Press down on the stapler the stapler with blue plastic handle firmly.",
+    "Firmly press down on the blue stapler for paper fastening to staple.",
+    "Push down on the blue rectangular stapler with curves firmly.",
+    "Push the top of the plastic stapler with metallic interior down",
+    "Push the plastic stapler with metallic interior until it staples.",
+    "Apply pressure to the compact bright blue stapler firmly",
+    "Push the blue stapler for paper fastening down completely",
+    "Place pressure on the blue stapler to staple.",
+    "Apply enough force to the blue rectangular stapler with curves to press it.",
+    "Apply pressure on the stapler with blue plastic handle until it works.",
+    "Push down firmly on the blue stapler with silver staple tray to complete.",
+    "Press the blue rectangular stapler with curves until it works",
+    "Use your the left arm to press the stapler the simple stapler.",
+    "Firmly push the blue stapler with silver staple tray using the left arm to operate it.",
+    "Push the stapler the blue stapler with white accents to operate it.",
+    "Push down on the blue rectangular stapler with curves to staple",
+    "Apply force to the plastic stapler with silver mechanism with the left arm",
+    "Push down on the stapler the plastic stapler with silver mechanism.",
+    "Simply press the stapler the blue stapler for paper fastening downward.",
+    "Push the stapler the stapler with blue plastic handle with the left arm.",
+    "Apply pressure to the plastic stapler with silver mechanism using one arm the left arm.",
+    "Use your arm the left arm to push the stapler with blue plastic handle down.",
+    "Push the simple stapler using one arm",
+    "Press on the plastic stapler with metallic interior using the left arm.",
+    "Press the plastic stapler with metallic interior downward using your arm the left arm.",
+    "Apply pressure to the stapler with blue plastic handle with the left arm.",
+    "Lower the left arm onto the stapler the compact bright blue stapler.",
+    "Push down on the blue stapler for paper fastening to staple papers.",
+    "Press the blue stapler firmly to staple",
+    "Engage the stapler with blue plastic handle by using the left arm to press it.",
+    "Press the stapler the blue stapler with silver staple tray using an arm the left arm.",
+    "Press on the compact bright blue stapler to activate it.",
+    "Apply pressure to the bright blue smooth stapler with the left arm.",
+    "Operate the bright blue smooth stapler by pressing it with the left arm.",
+    "Push down on the stapler the compact bright blue stapler.",
+    "Push down hard on the stapler with blue plastic handle with the left arm.",
+    "Use one arm to press the plastic stapler with silver mechanism.",
+    "Press the bright blue smooth stapler to staple the sheets together.",
+    "Push the blue rectangular stapler with curves down firmly.",
+    "Press the blue stapler with white accents to complete the task.",
+    "Push the stapler the blue stapler with silver staple tray to activate it.",
+    "Lower the simple stapler using an arm",
+    "Use an arm to press the compact bright blue stapler",
+    "Firmly push down on the blue rectangular stapler with curves.",
+    "Firmly press the handy blue stapler with metal parts using an arm.",
+    "Apply force to the plastic stapler with silver mechanism to staple.",
+    "Use one arm the left arm to press the simple stapler.",
+    "Press down on the plastic stapler with metallic interior until it functions.",
+    "Apply one arm the left arm to press the plastic stapler with metallic interior firmly.",
+    "Push down forcefully on the stapler the bright blue smooth stapler.",
+    "Press down on the stapler the plastic stapler with metallic interior firmly.",
+    "Firmly press down on the blue rectangular stapler with curves to staple.",
+    "Push down on the blue rectangular stapler with curves firmly.",
+    "Push the top of the blue stapler for paper fastening down",
+    "Push the blue stapler with white accents until it staples.",
+    "Apply pressure to the plastic stapler with silver mechanism firmly",
+    "Push the bright blue smooth stapler down completely",
+    "Place pressure on the blue stapler with silver staple tray to staple.",
+    "Apply enough force to the simple stapler to press it.",
+    "Apply pressure on the blue rectangular stapler with curves until it works.",
+    "Push down firmly on the blue stapler with white accents to complete.",
+    "Press the compact bright blue stapler until it works"
+  ],
+  "unseen": [
+    "Press down on the blue and white stapler firmly using the left arm.",
+    "Press down on the blue and white stapler with the left arm",
+    "Push the blue and white stapler down with one arm the left arm.",
+    "Use the left arm to press on the hand-size bright blue stapler",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Use the left arm to press down on the hand-size bright blue stapler.",
+    "Use the left arm to press the hand-size bright blue stapler.",
+    "Press the stapler the blue and white stapler with the arm the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm.",
+    "Use the left arm to press the stapler the rectangular stapler with curved corners.",
+    "Press down on the blue and white stapler firmly using the left arm.",
+    "Press down on the hand-size bright blue stapler with the left arm",
+    "Push the blue and white stapler down with one arm the left arm.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Use the left arm to press down on the hand-size bright blue stapler.",
+    "Use the left arm to press the hand-size bright blue stapler.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the left arm.",
+    "Press down on the blue and white stapler with the left arm.",
+    "Use the left arm to press the stapler the rectangular stapler with curved corners.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Press down on the blue and white stapler with the left arm",
+    "Push the blue and white stapler down with one arm the left arm.",
+    "Use the left arm to press on the hand-size bright blue stapler",
+    "Press the blue and white stapler firmly using your arm.",
+    "Use the left arm to press down on the blue and white stapler.",
+    "Use the left arm to press the rectangular stapler with curved corners.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm.",
+    "Use the left arm to press the stapler the rectangular stapler with curved corners.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm",
+    "Push the rectangular stapler with curved corners down with one arm the left arm.",
+    "Use the left arm to press on the blue and white stapler",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Use the left arm to press down on the blue and white stapler.",
+    "Use the left arm to press the rectangular stapler with curved corners.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm.",
+    "Use the left arm to press the stapler the rectangular stapler with curved corners.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm",
+    "Push the rectangular stapler with curved corners down with one arm the left arm.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Use the left arm to press down on the blue and white stapler.",
+    "Use the left arm to press the rectangular stapler with curved corners.",
+    "Press the stapler the blue and white stapler with the arm the left arm.",
+    "Press down on the hand-size bright blue stapler with the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm",
+    "Push the rectangular stapler with curved corners down with one arm the left arm.",
+    "Use the left arm to press on the blue and white stapler",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Use the left arm to press down on the hand-size bright blue stapler.",
+    "Use the left arm to press the hand-size bright blue stapler.",
+    "Press the stapler the hand-size bright blue stapler with the arm the left arm.",
+    "Press down on the hand-size bright blue stapler with the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm",
+    "Push the blue and white stapler down with one arm the left arm.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Use the left arm to press down on the hand-size bright blue stapler.",
+    "Use the left arm to press the blue and white stapler.",
+    "Press the stapler the hand-size bright blue stapler with the arm the left arm.",
+    "Press down on the blue and white stapler with the left arm.",
+    "Use the left arm to press the stapler the hand-size bright blue stapler.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm",
+    "Push the rectangular stapler with curved corners down with one arm the left arm.",
+    "Use the left arm to press on the hand-size bright blue stapler",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Use the left arm to press down on the rectangular stapler with curved corners.",
+    "Use the left arm to press the rectangular stapler with curved corners.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the left arm.",
+    "Press down on the hand-size bright blue stapler with the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler.",
+    "Press down on the hand-size bright blue stapler firmly using the left arm.",
+    "Press down on the blue and white stapler with the left arm",
+    "Push the hand-size bright blue stapler down with one arm the left arm.",
+    "Use the left arm to press on the hand-size bright blue stapler",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Use the left arm to press down on the blue and white stapler.",
+    "Use the left arm to press the rectangular stapler with curved corners.",
+    "Press the stapler the rectangular stapler with curved corners with the arm the left arm.",
+    "Press down on the blue and white stapler with the left arm.",
+    "Use the left arm to press the stapler the rectangular stapler with curved corners.",
+    "Press down on the hand-size bright blue stapler firmly using the left arm.",
+    "Press down on the blue and white stapler with the left arm",
+    "Push the rectangular stapler with curved corners down with one arm the left arm.",
+    "Use the left arm to press on the blue and white stapler",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Use the left arm to press down on the hand-size bright blue stapler.",
+    "Use the left arm to press the blue and white stapler.",
+    "Press the stapler the hand-size bright blue stapler with the arm the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode361.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push down forcefully on the stapler the red stapler for binding papers.",
+    "Use one arm to press the stapler in bright red color.",
+    "Engage the red stapler by using the left arm to press it.",
+    "Apply pressure to the stapler with rectangular silver mechanism with the left arm.",
+    "Firmly push the small red stapler using the left arm to operate it.",
+    "Push the top of the red stapler down",
+    "Apply enough force to the curved red stapler to press it.",
+    "Push the compact stapler until it staples.",
+    "Push down on the stapler the stapler with rectangular silver mechanism.",
+    "Press down on the red stapler until it functions.",
+    "Lower the compact red stapler with silver accents using an arm",
+    "Lower the left arm onto the stapler the plastic stapler with metal top.",
+    "Push the lightweight red stapler down completely",
+    "Operate the compact stapler by pressing it with the left arm.",
+    "Apply pressure on the lightweight red stapler until it works.",
+    "Apply force to the lightweight red stapler with the left arm",
+    "Push the stapler the lightweight red stapler to operate it.",
+    "Press the lightweight red stapler firmly to staple",
+    "Push the stapler the lightweight red stapler with the left arm.",
+    "Firmly push down on the stapler in bright red color.",
+    "Push the red stapler down firmly.",
+    "Push down firmly on the metallic stapler with red body to complete.",
+    "Press the stapler the lightweight red stapler using an arm the left arm.",
+    "Apply one arm the left arm to press the red stapler for binding papers firmly.",
+    "Press down on the stapler the stapler in bright red color firmly.",
+    "Push down hard on the small red stapler with the left arm.",
+    "Press the stapler with rectangular silver mechanism to complete the task.",
+    "Simply press the stapler the metallic stapler with red body downward.",
+    "Push down on the red stapler to staple",
+    "Apply force to the small red stapler to staple.",
+    "Firmly press the lightweight red stapler using an arm.",
+    "Press the metallic stapler with red body downward using your arm the left arm.",
+    "Press on the red stapler to activate it.",
+    "Use one arm the left arm to press the plastic stapler with metal top.",
+    "Apply pressure to the plastic stapler with metal top using one arm the left arm.",
+    "Firmly press down on the lightweight red stapler to staple.",
+    "Push down on the red stapler to staple papers.",
+    "Press on the red stapler using the left arm.",
+    "Use an arm to press the stapler with rectangular silver mechanism",
+    "Apply pressure to the compact red stapler with silver accents with the left arm.",
+    "Push down on the handheld red stapler firmly.",
+    "Push the stapler the handheld red stapler to activate it.",
+    "Push down on the stapler the compact red stapler with silver accents.",
+    "Push the stapler with rectangular silver mechanism using one arm",
+    "Use your arm the left arm to push the curved red stapler down.",
+    "Apply pressure to the lightweight red stapler firmly",
+    "Place pressure on the compact red stapler with silver accents to staple.",
+    "Use your the left arm to press the stapler the plastic stapler with metal top.",
+    "Press the curved red stapler until it works",
+    "Press the small red stapler to staple the sheets together.",
+    "Push down forcefully on the stapler the red stapler for binding papers.",
+    "Use one arm to press the handheld red stapler.",
+    "Engage the handheld red stapler by using the left arm to press it.",
+    "Apply pressure to the compact stapler with the left arm.",
+    "Firmly push the lightweight red stapler using the left arm to operate it.",
+    "Push the top of the curved red stapler down",
+    "Apply enough force to the curved red stapler to press it.",
+    "Push the compact red stapler with silver accents until it staples.",
+    "Push down on the stapler the plastic stapler with metal top.",
+    "Press down on the small red stapler until it functions.",
+    "Lower the lightweight red stapler using an arm",
+    "Lower the left arm onto the stapler the stapler with rectangular silver mechanism.",
+    "Push the compact red stapler with silver accents down completely",
+    "Operate the compact red stapler with silver accents by pressing it with the left arm.",
+    "Apply pressure on the compact stapler until it works.",
+    "Apply force to the handheld red stapler with the left arm",
+    "Push the stapler the plastic stapler with metal top to operate it.",
+    "Press the red stapler firmly to staple",
+    "Push the stapler the compact stapler with the left arm.",
+    "Firmly push down on the curved red stapler.",
+    "Push the red stapler down firmly.",
+    "Push down firmly on the red stapler for binding papers to complete.",
+    "Press the stapler the curved red stapler using an arm the left arm.",
+    "Apply one arm the left arm to press the compact red stapler with silver accents firmly.",
+    "Press down on the stapler the curved red stapler firmly.",
+    "Push down hard on the compact stapler with the left arm.",
+    "Press the handheld red stapler to complete the task.",
+    "Simply press the stapler the compact red stapler with silver accents downward.",
+    "Push down on the compact stapler to staple",
+    "Apply force to the red stapler to staple.",
+    "Firmly press the red stapler for binding papers using an arm.",
+    "Press the red stapler downward using your arm the left arm.",
+    "Press on the lightweight red stapler to activate it.",
+    "Use one arm the left arm to press the red stapler for binding papers.",
+    "Apply pressure to the red stapler for binding papers using one arm the left arm.",
+    "Firmly press down on the curved red stapler to staple.",
+    "Push down on the handheld red stapler to staple papers.",
+    "Press on the stapler with rectangular silver mechanism using the left arm.",
+    "Use an arm to press the small red stapler",
+    "Apply pressure to the curved red stapler with the left arm.",
+    "Push down on the plastic stapler with metal top firmly.",
+    "Push the stapler the small red stapler to activate it.",
+    "Push down on the stapler the compact stapler.",
+    "Push the compact red stapler with silver accents using one arm",
+    "Use your arm the left arm to push the plastic stapler with metal top down.",
+    "Apply pressure to the red stapler firmly",
+    "Place pressure on the metallic stapler with red body to staple.",
+    "Use your the left arm to press the stapler the red stapler for binding papers.",
+    "Press the compact stapler until it works",
+    "Press the stapler in bright red color to staple the sheets together."
+  ],
+  "unseen": [
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press down on the stapler with smooth plastic body."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode400.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push down on the stapler the small red stapler.",
+    "Use one arm to press the lightweight red stapler.",
+    "Apply force to the small red stapler to staple.",
+    "Push down firmly on the plastic stapler with metal top to complete.",
+    "Push the stapler the stapler in bright red color to activate it.",
+    "Push the plastic stapler with metal top down firmly.",
+    "Press the lightweight red stapler until it works",
+    "Press down on the stapler the stapler with rectangular silver mechanism firmly.",
+    "Lower the stapler in bright red color using an arm",
+    "Apply pressure to the red stapler firmly",
+    "Apply enough force to the plastic stapler with metal top to press it.",
+    "Push down forcefully on the stapler the plastic stapler with metal top.",
+    "Apply pressure to the stapler with rectangular silver mechanism using one arm the left arm.",
+    "Firmly push the curved red stapler using the left arm to operate it.",
+    "Apply pressure to the plastic stapler with metal top with the left arm.",
+    "Push down on the compact stapler firmly.",
+    "Press the curved red stapler to staple the sheets together.",
+    "Use your the left arm to press the stapler the stapler with rectangular silver mechanism.",
+    "Apply pressure on the curved red stapler until it works.",
+    "Push the stapler with rectangular silver mechanism using one arm",
+    "Press the compact red stapler with silver accents downward using your arm the left arm.",
+    "Push the stapler the compact red stapler with silver accents with the left arm.",
+    "Apply pressure to the red stapler for binding papers with the left arm.",
+    "Firmly press down on the compact red stapler with silver accents to staple.",
+    "Push the metallic stapler with red body down completely",
+    "Simply press the stapler the lightweight red stapler downward.",
+    "Push the stapler the plastic stapler with metal top to operate it.",
+    "Push the curved red stapler until it staples.",
+    "Press the red stapler for binding papers firmly to staple",
+    "Press on the compact red stapler with silver accents using the left arm.",
+    "Lower the left arm onto the stapler the stapler with rectangular silver mechanism.",
+    "Press down on the metallic stapler with red body until it functions.",
+    "Firmly push down on the red stapler.",
+    "Use one arm the left arm to press the small red stapler.",
+    "Firmly press the handheld red stapler using an arm.",
+    "Push down on the lightweight red stapler to staple",
+    "Push down hard on the red stapler for binding papers with the left arm.",
+    "Apply one arm the left arm to press the stapler in bright red color firmly.",
+    "Operate the plastic stapler with metal top by pressing it with the left arm.",
+    "Press the red stapler for binding papers to complete the task.",
+    "Engage the compact stapler by using the left arm to press it.",
+    "Press the stapler the compact stapler using an arm the left arm.",
+    "Push down on the lightweight red stapler to staple papers.",
+    "Push down on the stapler the lightweight red stapler.",
+    "Use your arm the left arm to push the curved red stapler down.",
+    "Use an arm to press the stapler in bright red color",
+    "Place pressure on the handheld red stapler to staple.",
+    "Push the top of the lightweight red stapler down",
+    "Press on the curved red stapler to activate it.",
+    "Apply force to the compact red stapler with silver accents with the left arm",
+    "Push down on the stapler the compact red stapler with silver accents.",
+    "Use one arm to press the small red stapler.",
+    "Apply force to the plastic stapler with metal top to staple.",
+    "Push down firmly on the red stapler to complete.",
+    "Push the stapler the red stapler to activate it.",
+    "Push the metallic stapler with red body down firmly.",
+    "Press the handheld red stapler until it works",
+    "Press down on the stapler the curved red stapler firmly.",
+    "Lower the plastic stapler with metal top using an arm",
+    "Apply pressure to the small red stapler firmly",
+    "Apply enough force to the compact stapler to press it.",
+    "Push down forcefully on the stapler the stapler in bright red color.",
+    "Apply pressure to the handheld red stapler using one arm the left arm.",
+    "Firmly push the stapler in bright red color using the left arm to operate it.",
+    "Apply pressure to the plastic stapler with metal top with the left arm.",
+    "Push down on the curved red stapler firmly.",
+    "Press the plastic stapler with metal top to staple the sheets together.",
+    "Use your the left arm to press the stapler the compact stapler.",
+    "Apply pressure on the compact stapler until it works.",
+    "Push the red stapler using one arm",
+    "Press the small red stapler downward using your arm the left arm.",
+    "Push the stapler the red stapler for binding papers with the left arm.",
+    "Apply pressure to the handheld red stapler with the left arm.",
+    "Firmly press down on the red stapler for binding papers to staple.",
+    "Push the plastic stapler with metal top down completely",
+    "Simply press the stapler the plastic stapler with metal top downward.",
+    "Push the stapler the small red stapler to operate it.",
+    "Push the curved red stapler until it staples.",
+    "Press the plastic stapler with metal top firmly to staple",
+    "Press on the compact stapler using the left arm.",
+    "Lower the left arm onto the stapler the curved red stapler.",
+    "Press down on the plastic stapler with metal top until it functions.",
+    "Firmly push down on the compact red stapler with silver accents.",
+    "Use one arm the left arm to press the lightweight red stapler.",
+    "Firmly press the compact stapler using an arm.",
+    "Push down on the stapler with rectangular silver mechanism to staple",
+    "Push down hard on the red stapler with the left arm.",
+    "Apply one arm the left arm to press the red stapler firmly.",
+    "Operate the small red stapler by pressing it with the left arm.",
+    "Press the red stapler for binding papers to complete the task.",
+    "Engage the red stapler for binding papers by using the left arm to press it.",
+    "Press the stapler the handheld red stapler using an arm the left arm.",
+    "Push down on the red stapler to staple papers.",
+    "Push down on the stapler the red stapler for binding papers.",
+    "Use your arm the left arm to push the stapler with rectangular silver mechanism down.",
+    "Use an arm to press the curved red stapler",
+    "Place pressure on the handheld red stapler to staple.",
+    "Push the top of the small red stapler down",
+    "Press on the red stapler to activate it.",
+    "Apply force to the compact red stapler with silver accents with the left arm"
+  ],
+  "unseen": [
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode434.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Apply enough force to the small office stapler to press it.",
+    "Lower the left arm onto the stapler the white body stapler with accents.",
+    "Press the paper stapler with silver tray until it works",
+    "Push the stapler the white body stapler with accents with the left arm.",
+    "Press on the smooth plastic stapler to activate it.",
+    "Press the modern design stapler downward using your arm the left arm.",
+    "Use an arm to press the handheld stapler",
+    "Push down on the modern design stapler firmly.",
+    "Apply pressure to the white body stapler with accents with the left arm.",
+    "Press the stapler with rounded edges firmly to staple",
+    "Firmly push down on the white body stapler with accents.",
+    "Push the white stapler with rounded design using one arm",
+    "Push down hard on the paper stapler with silver tray with the left arm.",
+    "Press down on the stapler the white body stapler with accents firmly.",
+    "Apply pressure to the stapler with orange button firmly",
+    "Firmly push the stapler with orange button using the left arm to operate it.",
+    "Press on the small office stapler using the left arm.",
+    "Use one arm to press the handheld stapler.",
+    "Push down forcefully on the stapler the white body stapler with accents.",
+    "Push down on the stapler the stapler for fastening papers.",
+    "Push down firmly on the plastic and metal stapler to complete.",
+    "Push the top of the smooth plastic stapler down",
+    "Push down on the stapler the handheld stapler.",
+    "Apply pressure to the stapler for fastening papers using one arm the left arm.",
+    "Apply one arm the left arm to press the white stapler with rounded design firmly.",
+    "Place pressure on the stapler for fastening papers to staple.",
+    "Firmly press down on the plastic and metal stapler to staple.",
+    "Engage the paper stapler with silver tray by using the left arm to press it.",
+    "Push down on the stapler with orange button to staple",
+    "Use your arm the left arm to push the small office stapler down.",
+    "Use one arm the left arm to press the small office stapler.",
+    "Lower the paper stapler with silver tray using an arm",
+    "Press the smooth plastic stapler to staple the sheets together.",
+    "Apply pressure to the white stapler with rounded design with the left arm.",
+    "Push the handheld stapler down completely",
+    "Press down on the paper stapler with silver tray until it functions.",
+    "Firmly press the stapler for fastening papers using an arm.",
+    "Use your the left arm to press the stapler the stapler with rounded edges.",
+    "Push the smooth plastic stapler until it staples.",
+    "Push the plastic and metal stapler down firmly.",
+    "Push the stapler the stapler with rounded edges to operate it.",
+    "Push down on the stapler for fastening papers to staple papers.",
+    "Press the stapler the paper stapler with silver tray using an arm the left arm.",
+    "Apply force to the stapler for fastening papers to staple.",
+    "Operate the stapler with orange top lever by pressing it with the left arm.",
+    "Apply force to the stapler with orange top lever with the left arm",
+    "Simply press the stapler the stapler with orange top lever downward.",
+    "Push the stapler the small office stapler to activate it.",
+    "Apply pressure on the paper stapler with silver tray until it works.",
+    "Press the stapler with orange top lever to complete the task.",
+    "Apply enough force to the stapler with orange top lever to press it.",
+    "Lower the left arm onto the stapler the stapler with orange button.",
+    "Press the white body stapler with accents until it works",
+    "Push the stapler the paper stapler with silver tray with the left arm.",
+    "Press on the stapler with rounded edges to activate it.",
+    "Press the small office stapler downward using your arm the left arm.",
+    "Use an arm to press the small office stapler",
+    "Push down on the stapler for fastening papers firmly.",
+    "Apply pressure to the small office stapler with the left arm.",
+    "Press the white body stapler with accents firmly to staple",
+    "Firmly push down on the paper stapler with silver tray.",
+    "Push the handheld stapler using one arm",
+    "Push down hard on the stapler for fastening papers with the left arm.",
+    "Press down on the stapler the plastic and metal stapler firmly.",
+    "Apply pressure to the stapler with orange button firmly",
+    "Firmly push the small office stapler using the left arm to operate it.",
+    "Press on the white body stapler with accents using the left arm.",
+    "Use one arm to press the smooth plastic stapler.",
+    "Push down forcefully on the stapler the stapler with orange button.",
+    "Push down on the stapler the white body stapler with accents.",
+    "Push down firmly on the stapler for fastening papers to complete.",
+    "Push the top of the stapler with orange top lever down",
+    "Push down on the stapler the paper stapler with silver tray.",
+    "Apply pressure to the stapler with rounded edges using one arm the left arm.",
+    "Apply one arm the left arm to press the stapler with orange top lever firmly.",
+    "Place pressure on the handheld stapler to staple.",
+    "Firmly press down on the white body stapler with accents to staple.",
+    "Engage the stapler with rounded edges by using the left arm to press it.",
+    "Push down on the small office stapler to staple",
+    "Use your arm the left arm to push the plastic and metal stapler down.",
+    "Use one arm the left arm to press the handheld stapler.",
+    "Lower the plastic and metal stapler using an arm",
+    "Press the smooth plastic stapler to staple the sheets together.",
+    "Apply pressure to the stapler with orange button with the left arm.",
+    "Push the plastic and metal stapler down completely",
+    "Press down on the plastic and metal stapler until it functions.",
+    "Firmly press the small office stapler using an arm.",
+    "Use your the left arm to press the stapler the small office stapler.",
+    "Push the white body stapler with accents until it staples.",
+    "Push the plastic and metal stapler down firmly.",
+    "Push the stapler the modern design stapler to operate it.",
+    "Push down on the modern design stapler to staple papers.",
+    "Press the stapler the small office stapler using an arm the left arm.",
+    "Apply force to the white body stapler with accents to staple.",
+    "Operate the stapler with orange button by pressing it with the left arm.",
+    "Apply force to the white body stapler with accents with the left arm",
+    "Simply press the stapler the stapler for fastening papers downward.",
+    "Push the stapler the handheld stapler to activate it.",
+    "Apply pressure on the plastic and metal stapler until it works.",
+    "Press the handheld stapler to complete the task."
+  ],
+  "unseen": [
+    "Use the left arm to press the compact stapler.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press down on the compact stapler with the left arm",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the left arm to press down on the white stapler.",
+    "Use the left arm to press on the compact stapler",
+    "Press down on the white stapler firmly using the left arm.",
+    "Push the white stapler down with one arm the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Press down on the white stapler with the left arm.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Press the compact stapler firmly using your arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Use the left arm to press on the compact stapler",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the compact stapler with the left arm",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the left arm to press down on the white stapler.",
+    "Use the left arm to press on the white stapler",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the compact stapler with the left arm",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press on the white stapler",
+    "Press down on the white stapler firmly using the left arm.",
+    "Push the white stapler down with one arm the left arm.",
+    "Use the left arm to press the white stapler.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the white stapler with the left arm",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press on the compact stapler",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press on the white stapler",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Press down on the white stapler with the left arm.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the white stapler with the left arm",
+    "Press the white stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Press down on the white stapler with the left arm.",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Press down on the compact stapler with the left arm",
+    "Press the white stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Push the white stapler down with one arm the left arm.",
+    "Use the left arm to press the white stapler.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press down on the compact stapler with the left arm",
+    "Press the compact stapler firmly using your arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Press down on the white stapler firmly using the left arm.",
+    "Push the white stapler down with one arm the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Press the white stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press on the white stapler",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Push the compact stapler down with one arm the left arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode445.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Apply one arm the right arm to press the handheld stapler firmly.",
+    "Push the top of the compact blue stapler down",
+    "Press the blue stapler with curved design firmly to staple",
+    "Use your arm the right arm to push the handheld stapler down.",
+    "Apply pressure to the blue stapler with black handle area with the right arm.",
+    "Push down hard on the plastic blue stapler with metal parts with the right arm.",
+    "Use one arm the right arm to press the plastic blue stapler with metal parts.",
+    "Use an arm to press the plastic blue stapler with metal parts",
+    "Lower the right arm onto the stapler the compact blue stapler.",
+    "Push the stapler the blue stapler with the right arm.",
+    "Push down forcefully on the stapler the blue stapler with black handle area.",
+    "Press the stapler for stapling paper until it works",
+    "Press the stapler with black top section to staple the sheets together.",
+    "Press down on the blue stapler with black handle area until it functions.",
+    "Firmly press down on the blue stapler with black handle area to staple.",
+    "Push the compact blue stapler down completely",
+    "Use your the right arm to press the stapler the small lightweight blue stapler.",
+    "Apply pressure on the compact blue stapler until it works.",
+    "Push the metal and plastic stapler until it staples.",
+    "Push down on the blue stapler with curved design to staple",
+    "Press the stapler the stapler with white metallic components using an arm the right arm.",
+    "Press on the handheld stapler using the right arm.",
+    "Push down on the stapler the handheld stapler.",
+    "Apply force to the handheld stapler to staple.",
+    "Apply enough force to the handheld stapler to press it.",
+    "Apply force to the compact blue stapler with the right arm",
+    "Push down on the small stapler firmly.",
+    "Engage the handheld stapler by using the right arm to press it.",
+    "Push the blue stapler with curved design down firmly.",
+    "Push the stapler the stapler with white metallic components to operate it.",
+    "Use one arm to press the blue stapler.",
+    "Apply pressure to the stapler with white metallic components firmly",
+    "Push down on the metal and plastic stapler to staple papers.",
+    "Press the handheld stapler to complete the task.",
+    "Place pressure on the compact blue stapler to staple.",
+    "Press the blue stapler with curved design downward using your arm the right arm.",
+    "Push the stapler the metal and plastic stapler to activate it.",
+    "Firmly press the stapler for stapling paper using an arm.",
+    "Apply pressure to the blue stapler with curved design with the right arm.",
+    "Push the blue stapler using one arm",
+    "Firmly push the handheld stapler using the right arm to operate it.",
+    "Press down on the stapler the metal and plastic stapler firmly.",
+    "Push down on the stapler the plastic blue stapler with metal parts.",
+    "Simply press the stapler the stapler with white metallic components downward.",
+    "Apply pressure to the metal and plastic stapler using one arm the right arm.",
+    "Operate the plastic blue stapler with metal parts by pressing it with the right arm.",
+    "Lower the blue stapler with curved design using an arm",
+    "Press on the stapler with white metallic components to activate it.",
+    "Firmly push down on the metal and plastic stapler.",
+    "Push down firmly on the stapler for stapling paper to complete.",
+    "Apply one arm the right arm to press the small stapler firmly.",
+    "Push the top of the metal and plastic stapler down",
+    "Press the blue stapler with curved design firmly to staple",
+    "Use your arm the right arm to push the stapler with white metallic components down.",
+    "Apply pressure to the small stapler with the right arm.",
+    "Push down hard on the small stapler with the right arm.",
+    "Use one arm the right arm to press the compact blue stapler.",
+    "Use an arm to press the stapler for stapling paper",
+    "Lower the right arm onto the stapler the stapler with white metallic components.",
+    "Push the stapler the blue stapler with black handle area with the right arm.",
+    "Push down forcefully on the stapler the blue stapler with black handle area.",
+    "Press the blue stapler with black handle area until it works",
+    "Press the blue stapler to staple the sheets together.",
+    "Press down on the handheld stapler until it functions.",
+    "Firmly press down on the blue stapler with curved design to staple.",
+    "Push the small lightweight blue stapler down completely",
+    "Use your the right arm to press the stapler the blue stapler with curved design.",
+    "Apply pressure on the metal and plastic stapler until it works.",
+    "Push the stapler for stapling paper until it staples.",
+    "Push down on the handheld stapler to staple",
+    "Press the stapler the stapler with black top section using an arm the right arm.",
+    "Press on the small lightweight blue stapler using the right arm.",
+    "Push down on the stapler the handheld stapler.",
+    "Apply force to the compact blue stapler to staple.",
+    "Apply enough force to the blue stapler to press it.",
+    "Apply force to the stapler with black top section with the right arm",
+    "Push down on the blue stapler with curved design firmly.",
+    "Engage the handheld stapler by using the right arm to press it.",
+    "Push the stapler with black top section down firmly.",
+    "Push the stapler the small lightweight blue stapler to operate it.",
+    "Use one arm to press the blue stapler.",
+    "Apply pressure to the blue stapler with curved design firmly",
+    "Push down on the small lightweight blue stapler to staple papers.",
+    "Press the small stapler to complete the task.",
+    "Place pressure on the blue stapler to staple.",
+    "Press the stapler with black top section downward using your arm the right arm.",
+    "Push the stapler the small stapler to activate it.",
+    "Firmly press the stapler with white metallic components using an arm.",
+    "Apply pressure to the compact blue stapler with the right arm.",
+    "Push the stapler with black top section using one arm",
+    "Firmly push the stapler with white metallic components using the right arm to operate it.",
+    "Press down on the stapler the small stapler firmly.",
+    "Push down on the stapler the blue stapler.",
+    "Simply press the stapler the compact blue stapler downward.",
+    "Apply pressure to the blue stapler using one arm the right arm.",
+    "Operate the blue stapler by pressing it with the right arm.",
+    "Lower the blue stapler using an arm",
+    "Press on the stapler for stapling paper to activate it.",
+    "Firmly push down on the small lightweight blue stapler.",
+    "Push down firmly on the handheld stapler to complete."
+  ],
+  "unseen": [
+    "Press the stapler with white loading section firmly using your arm.",
+    "Press down on the blue stapler with smooth finish firmly using the right arm.",
+    "Use the right arm to press the stapler with white loading section.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Use the right arm to press on the plastic stapler",
+    "Press down on the blue stapler with smooth finish with the right arm.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press the plastic stapler.",
+    "Use the right arm to press down on the stapler with white loading section.",
+    "Use the right arm to press on the blue stapler with smooth finish",
+    "Press down on the stapler with white loading section with the right arm.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Press down on the blue stapler with smooth finish firmly using the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press down on the stapler with white loading section.",
+    "Use the right arm to press on the blue stapler with smooth finish",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Press down on the plastic stapler with the right arm",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press the stapler with white loading section.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press on the blue stapler with smooth finish",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Press down on the stapler with white loading section with the right arm",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Press down on the blue stapler with smooth finish firmly using the right arm.",
+    "Use the right arm to press the plastic stapler.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Use the right arm to press on the blue stapler with smooth finish",
+    "Press down on the blue stapler with smooth finish with the right arm.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Press down on the stapler with white loading section with the right arm",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Press down on the plastic stapler firmly using the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press on the plastic stapler",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Press down on the stapler with white loading section with the right arm",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Press down on the plastic stapler firmly using the right arm.",
+    "Use the right arm to press the plastic stapler.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Use the right arm to press on the plastic stapler",
+    "Press down on the blue stapler with smooth finish with the right arm.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section with the right arm",
+    "Push the plastic stapler down with one arm the right arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Press down on the stapler with white loading section with the right arm",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Press down on the plastic stapler firmly using the right arm.",
+    "Use the right arm to press the plastic stapler.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press on the plastic stapler",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Press down on the plastic stapler with the right arm",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the stapler the plastic stapler with the arm the right arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode450.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push down on the stapler the compact stapler.",
+    "Firmly press the red stapler using an arm.",
+    "Engage the handheld red stapler by using the left arm to press it.",
+    "Push down on the stapler with rectangular silver mechanism to staple",
+    "Push the stapler the small red stapler with the left arm.",
+    "Use your arm the left arm to push the metallic stapler with red body down.",
+    "Push down on the stapler in bright red color to staple papers.",
+    "Apply pressure to the stapler with rectangular silver mechanism using one arm the left arm.",
+    "Operate the red stapler for binding papers by pressing it with the left arm.",
+    "Push the plastic stapler with metal top using one arm",
+    "Firmly push down on the handheld red stapler.",
+    "Push the top of the stapler with rectangular silver mechanism down",
+    "Lower the stapler in bright red color using an arm",
+    "Push the stapler the compact red stapler with silver accents to operate it.",
+    "Simply press the stapler the curved red stapler downward.",
+    "Firmly press down on the compact red stapler with silver accents to staple.",
+    "Press the stapler the small red stapler using an arm the left arm.",
+    "Apply pressure on the stapler in bright red color until it works.",
+    "Press the red stapler firmly to staple",
+    "Place pressure on the red stapler to staple.",
+    "Apply one arm the left arm to press the compact stapler firmly.",
+    "Press down on the small red stapler until it functions.",
+    "Apply enough force to the red stapler for binding papers to press it.",
+    "Push down on the stapler the red stapler.",
+    "Press down on the stapler the stapler in bright red color firmly.",
+    "Push down on the plastic stapler with metal top firmly.",
+    "Use your the left arm to press the stapler the handheld red stapler.",
+    "Use one arm the left arm to press the handheld red stapler.",
+    "Apply force to the compact stapler with the left arm",
+    "Use one arm to press the red stapler for binding papers.",
+    "Press on the stapler in bright red color using the left arm.",
+    "Press the red stapler for binding papers to staple the sheets together.",
+    "Press the lightweight red stapler until it works",
+    "Push down forcefully on the stapler the small red stapler.",
+    "Firmly push the stapler with rectangular silver mechanism using the left arm to operate it.",
+    "Push down hard on the small red stapler with the left arm.",
+    "Apply pressure to the red stapler with the left arm.",
+    "Push the lightweight red stapler until it staples.",
+    "Push the red stapler down firmly.",
+    "Push down firmly on the stapler with rectangular silver mechanism to complete.",
+    "Apply force to the stapler with rectangular silver mechanism to staple.",
+    "Push the stapler with rectangular silver mechanism down completely",
+    "Use an arm to press the metallic stapler with red body",
+    "Press on the red stapler for binding papers to activate it.",
+    "Apply pressure to the red stapler firmly",
+    "Press the small red stapler downward using your arm the left arm.",
+    "Apply pressure to the red stapler for binding papers with the left arm.",
+    "Lower the left arm onto the stapler the stapler with rectangular silver mechanism.",
+    "Press the compact red stapler with silver accents to complete the task.",
+    "Push the stapler the stapler in bright red color to activate it.",
+    "Push down on the stapler the small red stapler.",
+    "Firmly press the compact red stapler with silver accents using an arm.",
+    "Engage the compact stapler by using the left arm to press it.",
+    "Push down on the red stapler to staple",
+    "Push the stapler the red stapler for binding papers with the left arm.",
+    "Use your arm the left arm to push the red stapler for binding papers down.",
+    "Push down on the curved red stapler to staple papers.",
+    "Apply pressure to the small red stapler using one arm the left arm.",
+    "Operate the small red stapler by pressing it with the left arm.",
+    "Push the compact red stapler with silver accents using one arm",
+    "Firmly push down on the red stapler.",
+    "Push the top of the handheld red stapler down",
+    "Lower the handheld red stapler using an arm",
+    "Push the stapler the curved red stapler to operate it.",
+    "Simply press the stapler the curved red stapler downward.",
+    "Firmly press down on the compact red stapler with silver accents to staple.",
+    "Press the stapler the plastic stapler with metal top using an arm the left arm.",
+    "Apply pressure on the compact red stapler with silver accents until it works.",
+    "Press the handheld red stapler firmly to staple",
+    "Place pressure on the plastic stapler with metal top to staple.",
+    "Apply one arm the left arm to press the curved red stapler firmly.",
+    "Press down on the stapler in bright red color until it functions.",
+    "Apply enough force to the stapler in bright red color to press it.",
+    "Push down on the stapler the small red stapler.",
+    "Press down on the stapler the stapler with rectangular silver mechanism firmly.",
+    "Push down on the plastic stapler with metal top firmly.",
+    "Use your the left arm to press the stapler the compact red stapler with silver accents.",
+    "Use one arm the left arm to press the red stapler.",
+    "Apply force to the lightweight red stapler with the left arm",
+    "Use one arm to press the stapler with rectangular silver mechanism.",
+    "Press on the small red stapler using the left arm.",
+    "Press the stapler in bright red color to staple the sheets together.",
+    "Press the red stapler until it works",
+    "Push down forcefully on the stapler the red stapler for binding papers.",
+    "Firmly push the stapler in bright red color using the left arm to operate it.",
+    "Push down hard on the small red stapler with the left arm.",
+    "Apply pressure to the handheld red stapler with the left arm.",
+    "Push the stapler in bright red color until it staples.",
+    "Push the red stapler for binding papers down firmly.",
+    "Push down firmly on the stapler with rectangular silver mechanism to complete.",
+    "Apply force to the small red stapler to staple.",
+    "Push the stapler in bright red color down completely",
+    "Use an arm to press the red stapler",
+    "Press on the small red stapler to activate it.",
+    "Apply pressure to the stapler with rectangular silver mechanism firmly",
+    "Press the red stapler for binding papers downward using your arm the left arm.",
+    "Apply pressure to the handheld red stapler with the left arm.",
+    "Lower the left arm onto the stapler the lightweight red stapler.",
+    "Press the compact stapler to complete the task.",
+    "Push the stapler the stapler with rectangular silver mechanism to activate it."
+  ],
+  "unseen": [
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode455.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the stapler the black stapler with curved top to operate it.",
+    "Apply pressure to the handheld black stapler using one arm the left arm.",
+    "Use one arm the left arm to press the black smooth-textured stapler.",
+    "Push the handheld black stapler until it staples.",
+    "Place pressure on the black stapler with rectangular base to staple.",
+    "Firmly press down on the black stapler for joining pages to staple.",
+    "Press the stapler the black stapler for joining pages using an arm the left arm.",
+    "Apply pressure on the curved black stapler until it works.",
+    "Operate the black stapler with rectangular base by pressing it with the left arm.",
+    "Push the top of the handheld black stapler down",
+    "Apply force to the black stapler with smooth finish with the left arm",
+    "Use your arm the left arm to push the curved black stapler down.",
+    "Apply pressure to the black stapler for joining pages with the left arm.",
+    "Use one arm to press the compact black stapler.",
+    "Push the stapler the black stapler with rectangular base with the left arm.",
+    "Use your the left arm to press the stapler the black smooth-textured stapler.",
+    "Push the black stapler with smooth finish down firmly.",
+    "Apply pressure to the stapler with silver inner plates firmly",
+    "Press down on the stapler with silver inner plates until it functions.",
+    "Apply force to the black stapler with curved top to staple.",
+    "Press on the black stapler for joining pages to activate it.",
+    "Press the black smooth-textured stapler to staple the sheets together.",
+    "Push down on the stapler the stapler with silver inner plates.",
+    "Push down on the black stapler with rectangular base to staple",
+    "Push the black smooth-textured stapler down completely",
+    "Push down firmly on the curved black stapler to complete.",
+    "Push down forcefully on the stapler the black stapler for joining pages.",
+    "Apply pressure to the compact black stapler with the left arm.",
+    "Engage the black stapler for joining pages by using the left arm to press it.",
+    "Push the stapler the black stapler with curved top to activate it.",
+    "Press the black stapler with shiny interior until it works",
+    "Apply one arm the left arm to press the black smooth-textured stapler firmly.",
+    "Lower the left arm onto the stapler the black smooth-textured stapler.",
+    "Firmly press the compact black stapler using an arm.",
+    "Press the handheld black stapler to complete the task.",
+    "Simply press the stapler the stapler with silver inner plates downward.",
+    "Press down on the stapler the black stapler with curved top firmly.",
+    "Lower the black stapler with smooth finish using an arm",
+    "Push down on the small black stapler with metal core to staple papers.",
+    "Push down on the stapler the handheld black stapler.",
+    "Push down on the black stapler with shiny interior firmly.",
+    "Use an arm to press the small black stapler with metal core",
+    "Firmly push the black stapler with shiny interior using the left arm to operate it.",
+    "Push the stapler with silver staple tray using one arm",
+    "Press the small black stapler with metal core downward using your arm the left arm.",
+    "Press on the compact black stapler using the left arm.",
+    "Firmly push down on the curved black stapler.",
+    "Press the black smooth-textured stapler firmly to staple",
+    "Apply enough force to the black stapler with shiny interior to press it.",
+    "Push down hard on the black stapler for joining pages with the left arm.",
+    "Push the stapler the stapler with silver staple tray to operate it.",
+    "Apply pressure to the stapler with silver inner plates using one arm the left arm.",
+    "Use one arm the left arm to press the black stapler with curved top.",
+    "Push the small black stapler with metal core until it staples.",
+    "Place pressure on the black stapler with rectangular base to staple.",
+    "Firmly press down on the curved black stapler to staple.",
+    "Press the stapler the black stapler with rectangular base using an arm the left arm.",
+    "Apply pressure on the black stapler with shiny interior until it works.",
+    "Operate the small black stapler with metal core by pressing it with the left arm.",
+    "Push the top of the handheld black stapler down",
+    "Apply force to the handheld black stapler with the left arm",
+    "Use your arm the left arm to push the stapler with silver staple tray down.",
+    "Apply pressure to the black stapler with curved top with the left arm.",
+    "Use one arm to press the curved black stapler.",
+    "Push the stapler the black smooth-textured stapler with the left arm.",
+    "Use your the left arm to press the stapler the black smooth-textured stapler.",
+    "Push the stapler with silver staple tray down firmly.",
+    "Apply pressure to the curved black stapler firmly",
+    "Press down on the handheld black stapler until it functions.",
+    "Apply force to the small black stapler with metal core to staple.",
+    "Press on the handheld black stapler to activate it.",
+    "Press the black stapler with smooth finish to staple the sheets together.",
+    "Push down on the stapler the small black stapler with metal core.",
+    "Push down on the black stapler with rectangular base to staple",
+    "Push the black stapler with shiny interior down completely",
+    "Push down firmly on the small black stapler with metal core to complete.",
+    "Push down forcefully on the stapler the small black stapler with metal core.",
+    "Apply pressure to the curved black stapler with the left arm.",
+    "Engage the small black stapler with metal core by using the left arm to press it.",
+    "Push the stapler the black stapler with rectangular base to activate it.",
+    "Press the black stapler with shiny interior until it works",
+    "Apply one arm the left arm to press the stapler with silver inner plates firmly.",
+    "Lower the left arm onto the stapler the black smooth-textured stapler.",
+    "Firmly press the black smooth-textured stapler using an arm.",
+    "Press the black stapler with curved top to complete the task.",
+    "Simply press the stapler the black smooth-textured stapler downward.",
+    "Press down on the stapler the stapler with silver inner plates firmly.",
+    "Lower the stapler with silver inner plates using an arm",
+    "Push down on the black smooth-textured stapler to staple papers.",
+    "Push down on the stapler the stapler with silver staple tray.",
+    "Push down on the small black stapler with metal core firmly.",
+    "Use an arm to press the handheld black stapler",
+    "Firmly push the stapler with silver staple tray using the left arm to operate it.",
+    "Push the black stapler with rectangular base using one arm",
+    "Press the curved black stapler downward using your arm the left arm.",
+    "Press on the compact black stapler using the left arm.",
+    "Firmly push down on the stapler with silver inner plates.",
+    "Press the black stapler for joining pages firmly to staple",
+    "Apply enough force to the small black stapler with metal core to press it.",
+    "Push down hard on the compact black stapler with the left arm."
+  ],
+  "unseen": [
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press the stapler the black stapler.",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Push the palm-sized black stapler down with one arm the left arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Push the black stapler down with one arm the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press the stapler the black stapler.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press down on the black stapler with the left arm.",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Push the palm-sized black stapler down with one arm the left arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Use the left arm to press the stapler the black stapler."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode477.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push down forcefully on the stapler the stapler for fastening papers.",
+    "Push down on the stapler the stapler with metallic staple slot.",
+    "Push down on the compact office stapler firmly.",
+    "Use one arm to press the small handheld stapler.",
+    "Use one arm the right arm to press the compact office stapler.",
+    "Apply enough force to the red stapler with black base to press it.",
+    "Press on the red top black bottom stapler to activate it.",
+    "Press the stapler with red top to staple the sheets together.",
+    "Push the small handheld stapler until it staples.",
+    "Press the desk stapler with red body firmly to staple",
+    "Push down on the stapler the stapler for fastening papers.",
+    "Push the top of the stapler for fastening papers down",
+    "Push down hard on the red stapler with black base with the right arm.",
+    "Apply pressure to the red stapler with black base with the right arm.",
+    "Press down on the stapler the compact office stapler firmly.",
+    "Push down firmly on the red top black bottom stapler to complete.",
+    "Apply pressure to the manual stapler with black base firmly",
+    "Push the stapler the office stapler with plastic and metal parts to operate it.",
+    "Push down on the red stapler to staple papers.",
+    "Push the stapler with metallic staple slot down completely",
+    "Push the red stapler with black base down firmly.",
+    "Apply force to the manual stapler with black base with the right arm",
+    "Push the stapler the red top black bottom stapler to activate it.",
+    "Press the desk stapler with red body until it works",
+    "Engage the small handheld stapler by using the right arm to press it.",
+    "Apply one arm the right arm to press the stapler with red top firmly.",
+    "Firmly push the stapler with red top using the right arm to operate it.",
+    "Push down on the office stapler with plastic and metal parts to staple",
+    "Operate the office stapler with plastic and metal parts by pressing it with the right arm.",
+    "Firmly press the stapler with red top using an arm.",
+    "Press the stapler the red stapler using an arm the right arm.",
+    "Push the red top black bottom stapler using one arm",
+    "Use your arm the right arm to push the office stapler with plastic and metal parts down.",
+    "Apply pressure to the red stapler with the right arm.",
+    "Lower the right arm onto the stapler the stapler with metallic staple slot.",
+    "Place pressure on the stapler with metallic staple slot to staple.",
+    "Firmly press down on the desk stapler with red body to staple.",
+    "Press the stapler with red top downward using your arm the right arm.",
+    "Push the stapler the office stapler with plastic and metal parts with the right arm.",
+    "Press down on the small handheld stapler until it functions.",
+    "Firmly push down on the stapler with metallic staple slot.",
+    "Apply force to the red top black bottom stapler to staple.",
+    "Apply pressure on the stapler with red top until it works.",
+    "Lower the red top black bottom stapler using an arm",
+    "Apply pressure to the stapler with metallic staple slot using one arm the right arm.",
+    "Use your the right arm to press the stapler the red stapler with black base.",
+    "Press on the stapler with red top using the right arm.",
+    "Simply press the stapler the red stapler downward.",
+    "Use an arm to press the desk stapler with red body",
+    "Press the red stapler to complete the task.",
+    "Push down forcefully on the stapler the red plastic stapler with smooth top.",
+    "Push down on the stapler the desk stapler with red body.",
+    "Push down on the desk stapler with red body firmly.",
+    "Use one arm to press the manual stapler with black base.",
+    "Use one arm the right arm to press the stapler with red top.",
+    "Apply enough force to the stapler with metallic staple slot to press it.",
+    "Press on the stapler for fastening papers to activate it.",
+    "Press the red plastic stapler with smooth top to staple the sheets together.",
+    "Push the red plastic stapler with smooth top until it staples.",
+    "Press the small handheld stapler firmly to staple",
+    "Push down on the stapler the compact office stapler.",
+    "Push the top of the red plastic stapler with smooth top down",
+    "Push down hard on the manual stapler with black base with the right arm.",
+    "Apply pressure to the red stapler with black base with the right arm.",
+    "Press down on the stapler the red stapler with black base firmly.",
+    "Push down firmly on the compact office stapler to complete.",
+    "Apply pressure to the red top black bottom stapler firmly",
+    "Push the stapler the compact office stapler to operate it.",
+    "Push down on the stapler with red top to staple papers.",
+    "Push the office stapler with plastic and metal parts down completely",
+    "Push the desk stapler with red body down firmly.",
+    "Apply force to the red top black bottom stapler with the right arm",
+    "Push the stapler the red plastic stapler with smooth top to activate it.",
+    "Press the office stapler with plastic and metal parts until it works",
+    "Engage the manual stapler with black base by using the right arm to press it.",
+    "Apply one arm the right arm to press the office stapler with plastic and metal parts firmly.",
+    "Firmly push the red stapler with black base using the right arm to operate it.",
+    "Push down on the desk stapler with red body to staple",
+    "Operate the stapler with red top by pressing it with the right arm.",
+    "Firmly press the red stapler with black base using an arm.",
+    "Press the stapler the red plastic stapler with smooth top using an arm the right arm.",
+    "Push the stapler for fastening papers using one arm",
+    "Use your arm the right arm to push the small handheld stapler down.",
+    "Apply pressure to the red stapler with the right arm.",
+    "Lower the right arm onto the stapler the stapler for fastening papers.",
+    "Place pressure on the compact office stapler to staple.",
+    "Firmly press down on the red plastic stapler with smooth top to staple.",
+    "Press the red stapler downward using your arm the right arm.",
+    "Push the stapler the stapler for fastening papers with the right arm.",
+    "Press down on the stapler for fastening papers until it functions.",
+    "Firmly push down on the red plastic stapler with smooth top.",
+    "Apply force to the manual stapler with black base to staple.",
+    "Apply pressure on the desk stapler with red body until it works.",
+    "Lower the office stapler with plastic and metal parts using an arm",
+    "Apply pressure to the stapler for fastening papers using one arm the right arm.",
+    "Use your the right arm to press the stapler the red stapler with black base.",
+    "Press on the compact office stapler using the right arm.",
+    "Simply press the stapler the red stapler downward.",
+    "Use an arm to press the red top black bottom stapler",
+    "Press the stapler with metallic staple slot to complete the task."
+  ],
+  "unseen": [
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press the red plastic stapler.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Use the right arm to press the red plastic stapler.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Use the right arm to press the red plastic stapler.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode87.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the black stapler with smooth finish until it staples.",
+    "Use one arm the left arm to press the compact black stapler.",
+    "Push down on the black stapler with curved top firmly.",
+    "Lower the left arm onto the stapler the black stapler with smooth finish.",
+    "Push the stapler the compact black stapler with the left arm.",
+    "Push down on the curved black stapler to staple",
+    "Push down forcefully on the stapler the stapler with silver inner plates.",
+    "Engage the black stapler for joining pages by using the left arm to press it.",
+    "Push the black stapler with rectangular base down firmly.",
+    "Operate the stapler with silver inner plates by pressing it with the left arm.",
+    "Use an arm to press the black stapler for joining pages",
+    "Push down on the stapler the black stapler with curved top.",
+    "Press on the black stapler with smooth finish using the left arm.",
+    "Simply press the stapler the black stapler for joining pages downward.",
+    "Firmly press the curved black stapler using an arm.",
+    "Use your the left arm to press the stapler the handheld black stapler.",
+    "Apply enough force to the black smooth-textured stapler to press it.",
+    "Press the stapler with silver staple tray to complete the task.",
+    "Apply one arm the left arm to press the black smooth-textured stapler firmly.",
+    "Firmly push down on the black stapler with curved top.",
+    "Push down on the stapler the black smooth-textured stapler.",
+    "Apply force to the compact black stapler to staple.",
+    "Press the black stapler for joining pages downward using your arm the left arm.",
+    "Apply pressure on the curved black stapler until it works.",
+    "Use your arm the left arm to push the black stapler with shiny interior down.",
+    "Push down on the black stapler for joining pages to staple papers.",
+    "Push the stapler the black stapler with rectangular base to operate it.",
+    "Firmly push the black stapler with shiny interior using the left arm to operate it.",
+    "Push the top of the black stapler with curved top down",
+    "Press the handheld black stapler firmly to staple",
+    "Use one arm to press the stapler with silver inner plates.",
+    "Push down hard on the black stapler with smooth finish with the left arm.",
+    "Push the stapler the black stapler with curved top to activate it.",
+    "Firmly press down on the black stapler with curved top to staple.",
+    "Press the stapler the small black stapler with metal core using an arm the left arm.",
+    "Apply force to the black stapler with shiny interior with the left arm",
+    "Apply pressure to the curved black stapler using one arm the left arm.",
+    "Push the black stapler with rectangular base using one arm",
+    "Press the compact black stapler to staple the sheets together.",
+    "Lower the black stapler with smooth finish using an arm",
+    "Place pressure on the stapler with silver staple tray to staple.",
+    "Press down on the stapler with silver inner plates until it functions.",
+    "Push down firmly on the black stapler with rectangular base to complete.",
+    "Apply pressure to the black stapler with smooth finish firmly",
+    "Apply pressure to the black stapler with rectangular base with the left arm.",
+    "Press on the stapler with silver staple tray to activate it.",
+    "Press down on the stapler the compact black stapler firmly.",
+    "Press the black stapler with smooth finish until it works",
+    "Push the black stapler with shiny interior down completely",
+    "Apply pressure to the stapler with silver staple tray with the left arm.",
+    "Push the stapler with silver inner plates until it staples.",
+    "Use one arm the left arm to press the black stapler with shiny interior.",
+    "Push down on the small black stapler with metal core firmly.",
+    "Lower the left arm onto the stapler the black stapler with rectangular base.",
+    "Push the stapler the compact black stapler with the left arm.",
+    "Push down on the stapler with silver staple tray to staple",
+    "Push down forcefully on the stapler the stapler with silver staple tray.",
+    "Engage the black stapler for joining pages by using the left arm to press it.",
+    "Push the black stapler with shiny interior down firmly.",
+    "Operate the curved black stapler by pressing it with the left arm.",
+    "Use an arm to press the black smooth-textured stapler",
+    "Push down on the stapler the small black stapler with metal core.",
+    "Press on the black stapler with shiny interior using the left arm.",
+    "Simply press the stapler the small black stapler with metal core downward.",
+    "Firmly press the stapler with silver staple tray using an arm.",
+    "Use your the left arm to press the stapler the black stapler with rectangular base.",
+    "Apply enough force to the compact black stapler to press it.",
+    "Press the black stapler with rectangular base to complete the task.",
+    "Apply one arm the left arm to press the handheld black stapler firmly.",
+    "Firmly push down on the stapler with silver inner plates.",
+    "Push down on the stapler the black stapler with smooth finish.",
+    "Apply force to the handheld black stapler to staple.",
+    "Press the stapler with silver inner plates downward using your arm the left arm.",
+    "Apply pressure on the small black stapler with metal core until it works.",
+    "Use your arm the left arm to push the black stapler for joining pages down.",
+    "Push down on the small black stapler with metal core to staple papers.",
+    "Push the stapler the black smooth-textured stapler to operate it.",
+    "Firmly push the curved black stapler using the left arm to operate it.",
+    "Push the top of the stapler with silver staple tray down",
+    "Press the small black stapler with metal core firmly to staple",
+    "Use one arm to press the handheld black stapler.",
+    "Push down hard on the black smooth-textured stapler with the left arm.",
+    "Push the stapler the handheld black stapler to activate it.",
+    "Firmly press down on the black smooth-textured stapler to staple.",
+    "Press the stapler the stapler with silver inner plates using an arm the left arm.",
+    "Apply force to the compact black stapler with the left arm",
+    "Apply pressure to the handheld black stapler using one arm the left arm.",
+    "Push the small black stapler with metal core using one arm",
+    "Press the black stapler with smooth finish to staple the sheets together.",
+    "Lower the black stapler with shiny interior using an arm",
+    "Place pressure on the compact black stapler to staple.",
+    "Press down on the black stapler with smooth finish until it functions.",
+    "Push down firmly on the stapler with silver staple tray to complete.",
+    "Apply pressure to the handheld black stapler firmly",
+    "Apply pressure to the stapler with silver inner plates with the left arm.",
+    "Press on the small black stapler with metal core to activate it.",
+    "Press down on the stapler the stapler with silver inner plates firmly.",
+    "Press the black stapler with smooth finish until it works",
+    "Push the black smooth-textured stapler down completely",
+    "Apply pressure to the curved black stapler with the left arm."
+  ],
+  "unseen": [
+    "Press down on the palm-sized black stapler with the left arm",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Push the palm-sized black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Press down on the black stapler with the left arm.",
+    "Press down on the black stapler with the left arm",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Press down on the black stapler with the left arm",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Use the left arm to press the stapler the black stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the black stapler with the left arm.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Press down on the black stapler with the left arm",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the palm-sized black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Use the left arm to press the stapler the black stapler.",
+    "Use the left arm to press on the black stapler",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Press down on the black stapler with the left arm.",
+    "Press down on the black stapler with the left arm",
+    "Press down on the palm-sized black stapler firmly using the left arm.",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the palm-sized black stapler with the left arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode97.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lower the right arm onto the stapler the manual stapler with black base.",
+    "Press the stapler with red top downward using your arm the right arm.",
+    "Use your arm the right arm to push the red plastic stapler with smooth top down.",
+    "Push down on the stapler the red stapler with black base.",
+    "Press the office stapler with plastic and metal parts to staple the sheets together.",
+    "Press on the desk stapler with red body using the right arm.",
+    "Use one arm to press the red top black bottom stapler.",
+    "Press the stapler with metallic staple slot to complete the task.",
+    "Apply one arm the right arm to press the desk stapler with red body firmly.",
+    "Place pressure on the red top black bottom stapler to staple.",
+    "Push the top of the red stapler down",
+    "Push the stapler with red top down firmly.",
+    "Simply press the stapler the red plastic stapler with smooth top downward.",
+    "Push the stapler the office stapler with plastic and metal parts to activate it.",
+    "Push down on the stapler with red top to staple papers.",
+    "Press the stapler the red stapler using an arm the right arm.",
+    "Apply pressure to the manual stapler with black base with the right arm.",
+    "Apply enough force to the stapler with metallic staple slot to press it.",
+    "Push down hard on the stapler for fastening papers with the right arm.",
+    "Firmly press the office stapler with plastic and metal parts using an arm.",
+    "Apply force to the desk stapler with red body to staple.",
+    "Push the stapler the red stapler to operate it.",
+    "Push down on the stapler the red top black bottom stapler.",
+    "Push down firmly on the red top black bottom stapler to complete.",
+    "Firmly press down on the small handheld stapler to staple.",
+    "Push down on the stapler with metallic staple slot to staple",
+    "Press down on the stapler the red plastic stapler with smooth top firmly.",
+    "Push the manual stapler with black base until it staples.",
+    "Lower the desk stapler with red body using an arm",
+    "Use your the right arm to press the stapler the desk stapler with red body.",
+    "Push down on the desk stapler with red body firmly.",
+    "Push the stapler the red stapler with the right arm.",
+    "Push down forcefully on the stapler the stapler with metallic staple slot.",
+    "Firmly push down on the red plastic stapler with smooth top.",
+    "Push the small handheld stapler using one arm",
+    "Press down on the stapler with metallic staple slot until it functions.",
+    "Operate the stapler for fastening papers by pressing it with the right arm.",
+    "Apply pressure to the stapler with red top firmly",
+    "Firmly push the desk stapler with red body using the right arm to operate it.",
+    "Apply pressure to the compact office stapler using one arm the right arm.",
+    "Press on the red plastic stapler with smooth top to activate it.",
+    "Use an arm to press the red stapler with black base",
+    "Apply pressure on the red plastic stapler with smooth top until it works.",
+    "Press the small handheld stapler firmly to staple",
+    "Press the stapler with metallic staple slot until it works",
+    "Apply force to the office stapler with plastic and metal parts with the right arm",
+    "Engage the office stapler with plastic and metal parts by using the right arm to press it.",
+    "Push the stapler with metallic staple slot down completely",
+    "Use one arm the right arm to press the desk stapler with red body.",
+    "Apply pressure to the stapler with red top with the right arm.",
+    "Lower the right arm onto the stapler the stapler for fastening papers.",
+    "Press the red stapler downward using your arm the right arm.",
+    "Use your arm the right arm to push the red stapler down.",
+    "Push down on the stapler the desk stapler with red body.",
+    "Press the stapler with red top to staple the sheets together.",
+    "Press on the stapler for fastening papers using the right arm.",
+    "Use one arm to press the red plastic stapler with smooth top.",
+    "Press the office stapler with plastic and metal parts to complete the task.",
+    "Apply one arm the right arm to press the desk stapler with red body firmly.",
+    "Place pressure on the stapler with red top to staple.",
+    "Push the top of the small handheld stapler down",
+    "Push the small handheld stapler down firmly.",
+    "Simply press the stapler the stapler with red top downward.",
+    "Push the stapler the stapler with metallic staple slot to activate it.",
+    "Push down on the small handheld stapler to staple papers.",
+    "Press the stapler the red plastic stapler with smooth top using an arm the right arm.",
+    "Apply pressure to the red stapler with black base with the right arm.",
+    "Apply enough force to the office stapler with plastic and metal parts to press it.",
+    "Push down hard on the red top black bottom stapler with the right arm.",
+    "Firmly press the red stapler with black base using an arm.",
+    "Apply force to the compact office stapler to staple.",
+    "Push the stapler the manual stapler with black base to operate it.",
+    "Push down on the stapler the office stapler with plastic and metal parts.",
+    "Push down firmly on the compact office stapler to complete.",
+    "Firmly press down on the stapler for fastening papers to staple.",
+    "Push down on the office stapler with plastic and metal parts to staple",
+    "Press down on the stapler the stapler with metallic staple slot firmly.",
+    "Push the red top black bottom stapler until it staples.",
+    "Lower the red top black bottom stapler using an arm",
+    "Use your the right arm to press the stapler the office stapler with plastic and metal parts.",
+    "Push down on the compact office stapler firmly.",
+    "Push the stapler the small handheld stapler with the right arm.",
+    "Push down forcefully on the stapler the red stapler.",
+    "Firmly push down on the stapler with metallic staple slot.",
+    "Push the compact office stapler using one arm",
+    "Press down on the desk stapler with red body until it functions.",
+    "Operate the manual stapler with black base by pressing it with the right arm.",
+    "Apply pressure to the office stapler with plastic and metal parts firmly",
+    "Firmly push the manual stapler with black base using the right arm to operate it.",
+    "Apply pressure to the compact office stapler using one arm the right arm.",
+    "Press on the manual stapler with black base to activate it.",
+    "Use an arm to press the office stapler with plastic and metal parts",
+    "Apply pressure on the office stapler with plastic and metal parts until it works.",
+    "Press the stapler with red top firmly to staple",
+    "Press the stapler for fastening papers until it works",
+    "Apply force to the stapler for fastening papers with the right arm",
+    "Engage the office stapler with plastic and metal parts by using the right arm to press it.",
+    "Push the small handheld stapler down completely",
+    "Use one arm the right arm to press the stapler for fastening papers.",
+    "Apply pressure to the red top black bottom stapler with the right arm."
+  ],
+  "unseen": [
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press down on the red plastic stapler with the right arm."
+  ]
+}