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BorisGuo
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world_model_dataset

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  1. handover_block/aloha-agilex_clean_50/seed.txt +1 -0
  2. handover_block/aloha-agilex_randomized_500/seed.txt +1 -0
  3. handover_block/arx-x5_clean_50/instructions/episode11.json +206 -0
  4. handover_block/arx-x5_clean_50/instructions/episode18.json +206 -0
  5. handover_block/arx-x5_clean_50/instructions/episode19.json +206 -0
  6. handover_block/arx-x5_clean_50/instructions/episode21.json +206 -0
  7. handover_block/arx-x5_clean_50/instructions/episode25.json +206 -0
  8. handover_block/arx-x5_clean_50/instructions/episode26.json +206 -0
  9. handover_block/arx-x5_clean_50/instructions/episode27.json +206 -0
  10. handover_block/arx-x5_clean_50/instructions/episode29.json +206 -0
  11. handover_block/arx-x5_clean_50/instructions/episode36.json +206 -0
  12. handover_block/arx-x5_clean_50/instructions/episode45.json +206 -0
  13. handover_block/arx-x5_clean_50/instructions/episode46.json +206 -0
  14. handover_block/arx-x5_clean_50/instructions/episode9.json +206 -0
  15. handover_block/arx-x5_clean_50/seed.txt +1 -0
  16. handover_block/arx-x5_randomized_500/seed.txt +1 -0
  17. handover_block/piper_clean_50/seed.txt +1 -0
  18. handover_block/piper_randomized_500/seed.txt +1 -0
  19. move_playingcard_away/arx-x5_randomized_500/instructions/episode231.json +206 -0
  20. move_playingcard_away/arx-x5_randomized_500/instructions/episode247.json +206 -0
handover_block/aloha-agilex_clean_50/seed.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 0 1 2 3 4 5 6 7 8 10 11 12 13 14 15 16 17 19 20 21 22 23 24 25 28 29 31 32 33 34 35 36 37 38 39 40 41 42 43 45 46 48 49 50 51 52 53 54 55 56
handover_block/aloha-agilex_randomized_500/seed.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 0 2 3 4 5 6 7 9 10 12 13 14 17 19 22 23 27 29 33 34 35 36 38 39 40 41 42 44 45 46 47 48 49 50 51 52 55 56 59 60 61 62 65 66 67 68 70 72 73 75 76 77 78 81 82 84 85 86 87 88 89 91 92 93 94 95 96 97 98 99 100 101 102 103 108 109 110 112 113 115 116 117 119 120 121 122 123 124 127 128 129 130 131 132 133 134 135 136 137 139 140 141 142 143 145 146 147 148 149 150 151 153 154 155 156 157 158 160 161 162 165 166 167 168 169 170 172 173 175 177 178 179 180 183 184 185 186 188 189 190 191 193 194 195 196 197 198 199 200 202 204 205 206 207 208 209 210 211 213 214 215 216 217 218 219 220 221 222 224 226 227 228 229 230 231 232 233 234 237 238 239 240 243 244 245 246 247 248 249 250 251 252 253 254 255 257 258 260 261 262 263 264 265 267 268 269 270 271 272 273 274 275 278 280 281 282 283 284 285 286 287 288 289 290 293 294 295 297 298 299 300 302 303 304 306 309 310 311 312 313 314 318 319 320 322 323 325 327 328 330 331 332 334 335 336 337 338 340 342 343 344 345 346 347 351 352 353 354 355 356 357 360 361 362 363 364 367 369 370 371 373 374 375 376 377 378 379 381 382 385 388 390 393 395 396 398 400 401 402 403 404 406 407 409 410 411 412 413 415 416 417 418 420 421 422 423 425 426 427 428 430 433 434 436 437 438 440 441 442 444 445 446 449 450 451 455 457 459 463 464 465 466 467 468 470 471 472 473 476 477 478 480 482 485 486 487 488 489 490 491 492 493 494 495 498 499 500 501 503 504 505 507 508 510 513 514 515 516 519 520 521 523 525 527 528 529 533 534 538 539 541 542 543 544 545 548 549 550 552 553 554 555 556 557 559 560 561 562 563 564 565 566 567 568 569 570 572 573 575 576 577 578 579 581 582 583 584 586 587 588 589 591 592 593 594 595 596 597 598 601 602 604 605 606 607 610 611 613 614 615 616 617 618 620 621 622 623 625 626 627 628 629 631 632 633 634 635 636 637 638 639 643 645 647 648 649 650 651 653 655 656 657 658 659 660 661 664 665 668 671 673 674 675 676 678 679 680 681 682 683
handover_block/arx-x5_clean_50/instructions/episode11.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
4
+ "Take the red block and move it to the pad.",
5
+ "Set the red block on the blue pad gently.",
6
+ "Place the red block onto the blue pad using the right arm.",
7
+ "Hand the red block to the right arm.",
8
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
9
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
10
+ "Take the red block, pass it to the right arm, then place it.",
11
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
12
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
13
+ "Use left arm to grab the block and hand it to the right.",
14
+ "Lift the block with the left arm, pass it to the right arm.",
15
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
16
+ "Use your arms to shift the red block.",
17
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
18
+ "Lift the red block with your left arm.",
19
+ "Use the left arm to grab the red block.",
20
+ "Lift the red block, hand it over, and place it properly.",
21
+ "Lift, switch arms, and place the red block.",
22
+ "Take the red block using the left arm and hand it over.",
23
+ "Pick the red block with the left arm and transfer to the right.",
24
+ "Place the red block on the blue pad.",
25
+ "Pick up and handover the red block.",
26
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
27
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
28
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
29
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
30
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
31
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
32
+ "Grab the red block, transfer it, and set it on blue.",
33
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
34
+ "Take the red block, pass it to the right arm, and drop it.",
35
+ "Pick the red block with the left hand and pass it.",
36
+ "Grip the red block with the left arm and transfer it.",
37
+ "Hand over the red block to the right arm.",
38
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
39
+ "Hold the red block, transfer to the right arm, then set it down.",
40
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
41
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
42
+ "Pass the red block from the left to the right.",
43
+ "Move the red block from the left hand to the pad.",
44
+ "Hold the red block with the left arm and place it on the pad.",
45
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
46
+ "Grab the red block and transfer to the right.",
47
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
48
+ "Grab the red block, hand it to the right arm, then set it down.",
49
+ "Move the red block using the left arm.",
50
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
51
+ "Use left arm to grab the red block and place it on the pad.",
52
+ "Grab red block, pass to the right arm, then drop on blue pad.",
53
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
54
+ "Take the red block and move it to the pad.",
55
+ "Set the red block on the blue pad gently.",
56
+ "Place the red block onto the blue pad using the right arm.",
57
+ "Hand the red block to the right arm.",
58
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
59
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
60
+ "Take the red block, pass it to the right arm, then place it.",
61
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
62
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
63
+ "Use left arm to grab the block and hand it to the right.",
64
+ "Lift the block with the left arm, pass it to the right arm.",
65
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
66
+ "Use your arms to shift the red block.",
67
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
68
+ "Lift the red block with your left arm.",
69
+ "Use the left arm to grab the red block.",
70
+ "Lift the red block, hand it over, and place it properly.",
71
+ "Lift, switch arms, and place the red block.",
72
+ "Take the red block using the left arm and hand it over.",
73
+ "Pick the red block with the left arm and transfer to the right.",
74
+ "Place the red block on the blue pad.",
75
+ "Pick up and handover the red block.",
76
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
77
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
78
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
79
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
80
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
81
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
82
+ "Grab the red block, transfer it, and set it on blue.",
83
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
84
+ "Take the red block, pass it to the right arm, and drop it.",
85
+ "Pick the red block with the left hand and pass it.",
86
+ "Grip the red block with the left arm and transfer it.",
87
+ "Hand over the red block to the right arm.",
88
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
89
+ "Hold the red block, transfer to the right arm, then set it down.",
90
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
91
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
92
+ "Pass the red block from the left to the right.",
93
+ "Move the red block from the left hand to the pad.",
94
+ "Hold the red block with the left arm and place it on the pad.",
95
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
96
+ "Grab the red block and transfer to the right.",
97
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
98
+ "Grab the red block, hand it to the right arm, then set it down.",
99
+ "Move the red block using the left arm.",
100
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
101
+ "Use left arm to grab the red block and place it on the pad.",
102
+ "Grab red block, pass to the right arm, then drop on blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Pick up the red block and switch arms.",
106
+ "Grab the red block with the left arm.",
107
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
108
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
109
+ "Grab the red block using the left arm.",
110
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
111
+ "Pass the red block to the right arm and set it down.",
112
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
113
+ "Grab the red block with the left arm.",
114
+ "Use the left arm to pick up the red block.",
115
+ "Pick up the red block and switch arms.",
116
+ "Grab the red block with the left arm.",
117
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
118
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
119
+ "Grab the red block using the left arm.",
120
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
121
+ "Pass the red block to the right arm and set it down.",
122
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
123
+ "Grab the red block with the left arm.",
124
+ "Use the left arm to pick up the red block.",
125
+ "Pick up the red block and switch arms.",
126
+ "Grab the red block with the left arm.",
127
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
128
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
129
+ "Grab the red block using the left arm.",
130
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
131
+ "Pass the red block to the right arm and set it down.",
132
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
133
+ "Grab the red block with the left arm.",
134
+ "Use the left arm to pick up the red block.",
135
+ "Pick up the red block and switch arms.",
136
+ "Grab the red block with the left arm.",
137
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
138
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
139
+ "Grab the red block using the left arm.",
140
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
141
+ "Pass the red block to the right arm and set it down.",
142
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
143
+ "Grab the red block with the left arm.",
144
+ "Use the left arm to pick up the red block.",
145
+ "Pick up the red block and switch arms.",
146
+ "Grab the red block with the left arm.",
147
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
148
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
149
+ "Grab the red block using the left arm.",
150
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
151
+ "Pass the red block to the right arm and set it down.",
152
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
153
+ "Grab the red block with the left arm.",
154
+ "Use the left arm to pick up the red block.",
155
+ "Pick up the red block and switch arms.",
156
+ "Grab the red block with the left arm.",
157
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
158
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
159
+ "Grab the red block using the left arm.",
160
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
161
+ "Pass the red block to the right arm and set it down.",
162
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
163
+ "Grab the red block with the left arm.",
164
+ "Use the left arm to pick up the red block.",
165
+ "Pick up the red block and switch arms.",
166
+ "Grab the red block with the left arm.",
167
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
168
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
169
+ "Grab the red block using the left arm.",
170
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
171
+ "Pass the red block to the right arm and set it down.",
172
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
173
+ "Grab the red block with the left arm.",
174
+ "Use the left arm to pick up the red block.",
175
+ "Pick up the red block and switch arms.",
176
+ "Grab the red block with the left arm.",
177
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
178
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
179
+ "Grab the red block using the left arm.",
180
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
181
+ "Pass the red block to the right arm and set it down.",
182
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
183
+ "Grab the red block with the left arm.",
184
+ "Use the left arm to pick up the red block.",
185
+ "Pick up the red block and switch arms.",
186
+ "Grab the red block with the left arm.",
187
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
188
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
189
+ "Grab the red block using the left arm.",
190
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
191
+ "Pass the red block to the right arm and set it down.",
192
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
193
+ "Grab the red block with the left arm.",
194
+ "Use the left arm to pick up the red block.",
195
+ "Pick up the red block and switch arms.",
196
+ "Grab the red block with the left arm.",
197
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
198
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
199
+ "Grab the red block using the left arm.",
200
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
201
+ "Pass the red block to the right arm and set it down.",
202
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
203
+ "Grab the red block with the left arm.",
204
+ "Use the left arm to pick up the red block."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode18.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Use the left arm to grab the red block.",
4
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
5
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
6
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
7
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
8
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
9
+ "Hand over the red block to the right arm.",
10
+ "Place the red block on the blue pad.",
11
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
12
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
13
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
14
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
15
+ "Place the red block onto the blue pad using the right arm.",
16
+ "Move the red block from the left hand to the pad.",
17
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
18
+ "Grip the red block with the left arm and transfer it.",
19
+ "Take the red block, pass it to the right arm, and drop it.",
20
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
21
+ "Pick the red block with the left arm and transfer to the right.",
22
+ "Lift the red block with your left arm.",
23
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
24
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
25
+ "Set the red block on the blue pad gently.",
26
+ "Take the red block and move it to the pad.",
27
+ "Use left arm to grab the block and hand it to the right.",
28
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
29
+ "Grab the red block, hand it to the right arm, then set it down.",
30
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
31
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
32
+ "Pick up and handover the red block.",
33
+ "Hold the red block, transfer to the right arm, then set it down.",
34
+ "Move the red block using the left arm.",
35
+ "Grab the red block, transfer it, and set it on blue.",
36
+ "Hand the red block to the right arm.",
37
+ "Take the red block, pass it to the right arm, then place it.",
38
+ "Grab red block, pass to the right arm, then drop on blue pad.",
39
+ "Lift the block with the left arm, pass it to the right arm.",
40
+ "Pick the red block with the left hand and pass it.",
41
+ "Use your arms to shift the red block.",
42
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
43
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
44
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
45
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
46
+ "Pass the red block from the left to the right.",
47
+ "Lift the red block, hand it over, and place it properly.",
48
+ "Grab the red block and transfer to the right.",
49
+ "Lift, switch arms, and place the red block.",
50
+ "Use left arm to grab the red block and place it on the pad.",
51
+ "Take the red block using the left arm and hand it over.",
52
+ "Hold the red block with the left arm and place it on the pad.",
53
+ "Use the left arm to grab the red block.",
54
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
55
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
56
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
57
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
58
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
59
+ "Hand over the red block to the right arm.",
60
+ "Place the red block on the blue pad.",
61
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
62
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
63
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
64
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
65
+ "Place the red block onto the blue pad using the right arm.",
66
+ "Move the red block from the left hand to the pad.",
67
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
68
+ "Grip the red block with the left arm and transfer it.",
69
+ "Take the red block, pass it to the right arm, and drop it.",
70
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
71
+ "Pick the red block with the left arm and transfer to the right.",
72
+ "Lift the red block with your left arm.",
73
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
74
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
75
+ "Set the red block on the blue pad gently.",
76
+ "Take the red block and move it to the pad.",
77
+ "Use left arm to grab the block and hand it to the right.",
78
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
79
+ "Grab the red block, hand it to the right arm, then set it down.",
80
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
81
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
82
+ "Pick up and handover the red block.",
83
+ "Hold the red block, transfer to the right arm, then set it down.",
84
+ "Move the red block using the left arm.",
85
+ "Grab the red block, transfer it, and set it on blue.",
86
+ "Hand the red block to the right arm.",
87
+ "Take the red block, pass it to the right arm, then place it.",
88
+ "Grab red block, pass to the right arm, then drop on blue pad.",
89
+ "Lift the block with the left arm, pass it to the right arm.",
90
+ "Pick the red block with the left hand and pass it.",
91
+ "Use your arms to shift the red block.",
92
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
93
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
94
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
95
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
96
+ "Pass the red block from the left to the right.",
97
+ "Lift the red block, hand it over, and place it properly.",
98
+ "Grab the red block and transfer to the right.",
99
+ "Lift, switch arms, and place the red block.",
100
+ "Use left arm to grab the red block and place it on the pad.",
101
+ "Take the red block using the left arm and hand it over.",
102
+ "Hold the red block with the left arm and place it on the pad."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm.",
106
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
107
+ "Pick up the red block and switch arms.",
108
+ "Use the left arm to pick up the red block.",
109
+ "Grab the red block using the left arm.",
110
+ "Grab the red block with the left arm.",
111
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
112
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
113
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
114
+ "Pass the red block to the right arm and set it down.",
115
+ "Grab the red block with the left arm.",
116
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
117
+ "Pick up the red block and switch arms.",
118
+ "Use the left arm to pick up the red block.",
119
+ "Grab the red block using the left arm.",
120
+ "Grab the red block with the left arm.",
121
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
122
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
123
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
124
+ "Pass the red block to the right arm and set it down.",
125
+ "Grab the red block with the left arm.",
126
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
127
+ "Pick up the red block and switch arms.",
128
+ "Use the left arm to pick up the red block.",
129
+ "Grab the red block using the left arm.",
130
+ "Grab the red block with the left arm.",
131
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
132
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
133
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
134
+ "Pass the red block to the right arm and set it down.",
135
+ "Grab the red block with the left arm.",
136
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
137
+ "Pick up the red block and switch arms.",
138
+ "Use the left arm to pick up the red block.",
139
+ "Grab the red block using the left arm.",
140
+ "Grab the red block with the left arm.",
141
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
142
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
143
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
144
+ "Pass the red block to the right arm and set it down.",
145
+ "Grab the red block with the left arm.",
146
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
147
+ "Pick up the red block and switch arms.",
148
+ "Use the left arm to pick up the red block.",
149
+ "Grab the red block using the left arm.",
150
+ "Grab the red block with the left arm.",
151
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
152
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
153
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
154
+ "Pass the red block to the right arm and set it down.",
155
+ "Grab the red block with the left arm.",
156
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
157
+ "Pick up the red block and switch arms.",
158
+ "Use the left arm to pick up the red block.",
159
+ "Grab the red block using the left arm.",
160
+ "Grab the red block with the left arm.",
161
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
162
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
163
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
164
+ "Pass the red block to the right arm and set it down.",
165
+ "Grab the red block with the left arm.",
166
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
167
+ "Pick up the red block and switch arms.",
168
+ "Use the left arm to pick up the red block.",
169
+ "Grab the red block using the left arm.",
170
+ "Grab the red block with the left arm.",
171
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
172
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
173
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
174
+ "Pass the red block to the right arm and set it down.",
175
+ "Grab the red block with the left arm.",
176
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
177
+ "Pick up the red block and switch arms.",
178
+ "Use the left arm to pick up the red block.",
179
+ "Grab the red block using the left arm.",
180
+ "Grab the red block with the left arm.",
181
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
182
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
183
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
184
+ "Pass the red block to the right arm and set it down.",
185
+ "Grab the red block with the left arm.",
186
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
187
+ "Pick up the red block and switch arms.",
188
+ "Use the left arm to pick up the red block.",
189
+ "Grab the red block using the left arm.",
190
+ "Grab the red block with the left arm.",
191
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
192
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
193
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
194
+ "Pass the red block to the right arm and set it down.",
195
+ "Grab the red block with the left arm.",
196
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
197
+ "Pick up the red block and switch arms.",
198
+ "Use the left arm to pick up the red block.",
199
+ "Grab the red block using the left arm.",
200
+ "Grab the red block with the left arm.",
201
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
202
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
203
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
204
+ "Pass the red block to the right arm and set it down."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode19.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Grip the red block with the left arm and transfer it.",
4
+ "Hold the red block, transfer to the right arm, then set it down.",
5
+ "Lift, switch arms, and place the red block.",
6
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
7
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
8
+ "Set the red block on the blue pad gently.",
9
+ "Grab the red block, transfer it, and set it on blue.",
10
+ "Lift the block with the left arm, pass it to the right arm.",
11
+ "Pick the red block with the left hand and pass it.",
12
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
13
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
14
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
15
+ "Hold the red block with the left arm and place it on the pad.",
16
+ "Take the red block, pass it to the right arm, then place it.",
17
+ "Pick up and handover the red block.",
18
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
19
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
20
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
21
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
22
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
23
+ "Grab the red block, hand it to the right arm, then set it down.",
24
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
25
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
26
+ "Take the red block using the left arm and hand it over.",
27
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
28
+ "Move the red block from the left hand to the pad.",
29
+ "Pass the red block from the left to the right.",
30
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
31
+ "Lift the red block with your left arm.",
32
+ "Use your arms to shift the red block.",
33
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
34
+ "Place the red block onto the blue pad using the right arm.",
35
+ "Hand the red block to the right arm.",
36
+ "Move the red block using the left arm.",
37
+ "Take the red block and move it to the pad.",
38
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
39
+ "Pick the red block with the left arm and transfer to the right.",
40
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
41
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
42
+ "Use left arm to grab the block and hand it to the right.",
43
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
44
+ "Grab red block, pass to the right arm, then drop on blue pad.",
45
+ "Place the red block on the blue pad.",
46
+ "Grab the red block and transfer to the right.",
47
+ "Use left arm to grab the red block and place it on the pad.",
48
+ "Use the left arm to grab the red block.",
49
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
50
+ "Hand over the red block to the right arm.",
51
+ "Lift the red block, hand it over, and place it properly.",
52
+ "Take the red block, pass it to the right arm, and drop it.",
53
+ "Grip the red block with the left arm and transfer it.",
54
+ "Hold the red block, transfer to the right arm, then set it down.",
55
+ "Lift, switch arms, and place the red block.",
56
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
57
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
58
+ "Set the red block on the blue pad gently.",
59
+ "Grab the red block, transfer it, and set it on blue.",
60
+ "Lift the block with the left arm, pass it to the right arm.",
61
+ "Pick the red block with the left hand and pass it.",
62
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
63
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
64
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
65
+ "Hold the red block with the left arm and place it on the pad.",
66
+ "Take the red block, pass it to the right arm, then place it.",
67
+ "Pick up and handover the red block.",
68
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
69
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
70
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
71
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
72
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
73
+ "Grab the red block, hand it to the right arm, then set it down.",
74
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
75
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
76
+ "Take the red block using the left arm and hand it over.",
77
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
78
+ "Move the red block from the left hand to the pad.",
79
+ "Pass the red block from the left to the right.",
80
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
81
+ "Lift the red block with your left arm.",
82
+ "Use your arms to shift the red block.",
83
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
84
+ "Place the red block onto the blue pad using the right arm.",
85
+ "Hand the red block to the right arm.",
86
+ "Move the red block using the left arm.",
87
+ "Take the red block and move it to the pad.",
88
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
89
+ "Pick the red block with the left arm and transfer to the right.",
90
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
91
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
92
+ "Use left arm to grab the block and hand it to the right.",
93
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
94
+ "Grab red block, pass to the right arm, then drop on blue pad.",
95
+ "Place the red block on the blue pad.",
96
+ "Grab the red block and transfer to the right.",
97
+ "Use left arm to grab the red block and place it on the pad.",
98
+ "Use the left arm to grab the red block.",
99
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
100
+ "Hand over the red block to the right arm.",
101
+ "Lift the red block, hand it over, and place it properly.",
102
+ "Take the red block, pass it to the right arm, and drop it."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block using the left arm.",
106
+ "Pick up the red block and switch arms.",
107
+ "Use the left arm to pick up the red block.",
108
+ "Grab the red block with the left arm.",
109
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
110
+ "Pass the red block to the right arm and set it down.",
111
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
112
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
113
+ "Grab the red block with the left arm.",
114
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
115
+ "Grab the red block using the left arm.",
116
+ "Pick up the red block and switch arms.",
117
+ "Use the left arm to pick up the red block.",
118
+ "Grab the red block with the left arm.",
119
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
120
+ "Pass the red block to the right arm and set it down.",
121
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
122
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
123
+ "Grab the red block with the left arm.",
124
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
125
+ "Grab the red block using the left arm.",
126
+ "Pick up the red block and switch arms.",
127
+ "Use the left arm to pick up the red block.",
128
+ "Grab the red block with the left arm.",
129
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
130
+ "Pass the red block to the right arm and set it down.",
131
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
132
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
133
+ "Grab the red block with the left arm.",
134
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
135
+ "Grab the red block using the left arm.",
136
+ "Pick up the red block and switch arms.",
137
+ "Use the left arm to pick up the red block.",
138
+ "Grab the red block with the left arm.",
139
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
140
+ "Pass the red block to the right arm and set it down.",
141
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
142
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
143
+ "Grab the red block with the left arm.",
144
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
145
+ "Grab the red block using the left arm.",
146
+ "Pick up the red block and switch arms.",
147
+ "Use the left arm to pick up the red block.",
148
+ "Grab the red block with the left arm.",
149
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
150
+ "Pass the red block to the right arm and set it down.",
151
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
152
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
153
+ "Grab the red block with the left arm.",
154
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
155
+ "Grab the red block using the left arm.",
156
+ "Pick up the red block and switch arms.",
157
+ "Use the left arm to pick up the red block.",
158
+ "Grab the red block with the left arm.",
159
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
160
+ "Pass the red block to the right arm and set it down.",
161
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
162
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
163
+ "Grab the red block with the left arm.",
164
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
165
+ "Grab the red block using the left arm.",
166
+ "Pick up the red block and switch arms.",
167
+ "Use the left arm to pick up the red block.",
168
+ "Grab the red block with the left arm.",
169
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
170
+ "Pass the red block to the right arm and set it down.",
171
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
172
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
173
+ "Grab the red block with the left arm.",
174
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
175
+ "Grab the red block using the left arm.",
176
+ "Pick up the red block and switch arms.",
177
+ "Use the left arm to pick up the red block.",
178
+ "Grab the red block with the left arm.",
179
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
180
+ "Pass the red block to the right arm and set it down.",
181
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
182
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
183
+ "Grab the red block with the left arm.",
184
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
185
+ "Grab the red block using the left arm.",
186
+ "Pick up the red block and switch arms.",
187
+ "Use the left arm to pick up the red block.",
188
+ "Grab the red block with the left arm.",
189
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
190
+ "Pass the red block to the right arm and set it down.",
191
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
192
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
193
+ "Grab the red block with the left arm.",
194
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
195
+ "Grab the red block using the left arm.",
196
+ "Pick up the red block and switch arms.",
197
+ "Use the left arm to pick up the red block.",
198
+ "Grab the red block with the left arm.",
199
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
200
+ "Pass the red block to the right arm and set it down.",
201
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
202
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
203
+ "Grab the red block with the left arm.",
204
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode21.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Pass the red block from the left to the right.",
4
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
5
+ "Take the red block using the left arm and hand it over.",
6
+ "Pick up and handover the red block.",
7
+ "Move the red block from the left hand to the pad.",
8
+ "Grab the red block, transfer it, and set it on blue.",
9
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
10
+ "Grab the red block, hand it to the right arm, then set it down.",
11
+ "Set the red block on the blue pad gently.",
12
+ "Place the red block on the blue pad.",
13
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
14
+ "Pick the red block with the left arm and transfer to the right.",
15
+ "Move the red block using the left arm.",
16
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
17
+ "Place the red block onto the blue pad using the right arm.",
18
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
19
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
20
+ "Take the red block and move it to the pad.",
21
+ "Take the red block, pass it to the right arm, then place it.",
22
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
23
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
24
+ "Hold the red block with the left arm and place it on the pad.",
25
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
26
+ "Hold the red block, transfer to the right arm, then set it down.",
27
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
28
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
29
+ "Hand the red block to the right arm.",
30
+ "Lift the block with the left arm, pass it to the right arm.",
31
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
32
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
33
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
34
+ "Grip the red block with the left arm and transfer it.",
35
+ "Use left arm to grab the block and hand it to the right.",
36
+ "Take the red block, pass it to the right arm, and drop it.",
37
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
38
+ "Lift the red block, hand it over, and place it properly.",
39
+ "Grab the red block and transfer to the right.",
40
+ "Use left arm to grab the red block and place it on the pad.",
41
+ "Pick the red block with the left hand and pass it.",
42
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
43
+ "Lift the red block with your left arm.",
44
+ "Use the left arm to grab the red block.",
45
+ "Hand over the red block to the right arm.",
46
+ "Use your arms to shift the red block.",
47
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
48
+ "Lift, switch arms, and place the red block.",
49
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
50
+ "Grab red block, pass to the right arm, then drop on blue pad.",
51
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
52
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
53
+ "Pass the red block from the left to the right.",
54
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
55
+ "Take the red block using the left arm and hand it over.",
56
+ "Pick up and handover the red block.",
57
+ "Move the red block from the left hand to the pad.",
58
+ "Grab the red block, transfer it, and set it on blue.",
59
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
60
+ "Grab the red block, hand it to the right arm, then set it down.",
61
+ "Set the red block on the blue pad gently.",
62
+ "Place the red block on the blue pad.",
63
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
64
+ "Pick the red block with the left arm and transfer to the right.",
65
+ "Move the red block using the left arm.",
66
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
67
+ "Place the red block onto the blue pad using the right arm.",
68
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
69
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
70
+ "Take the red block and move it to the pad.",
71
+ "Take the red block, pass it to the right arm, then place it.",
72
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
73
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
74
+ "Hold the red block with the left arm and place it on the pad.",
75
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
76
+ "Hold the red block, transfer to the right arm, then set it down.",
77
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
78
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
79
+ "Hand the red block to the right arm.",
80
+ "Lift the block with the left arm, pass it to the right arm.",
81
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
82
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
83
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
84
+ "Grip the red block with the left arm and transfer it.",
85
+ "Use left arm to grab the block and hand it to the right.",
86
+ "Take the red block, pass it to the right arm, and drop it.",
87
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
88
+ "Lift the red block, hand it over, and place it properly.",
89
+ "Grab the red block and transfer to the right.",
90
+ "Use left arm to grab the red block and place it on the pad.",
91
+ "Pick the red block with the left hand and pass it.",
92
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
93
+ "Lift the red block with your left arm.",
94
+ "Use the left arm to grab the red block.",
95
+ "Hand over the red block to the right arm.",
96
+ "Use your arms to shift the red block.",
97
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
98
+ "Lift, switch arms, and place the red block.",
99
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
100
+ "Grab red block, pass to the right arm, then drop on blue pad.",
101
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
102
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
106
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
107
+ "Grab the red block using the left arm.",
108
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
109
+ "Pass the red block to the right arm and set it down.",
110
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
111
+ "Use the left arm to pick up the red block.",
112
+ "Grab the red block with the left arm.",
113
+ "Grab the red block with the left arm.",
114
+ "Pick up the red block and switch arms.",
115
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
116
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
117
+ "Grab the red block using the left arm.",
118
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
119
+ "Pass the red block to the right arm and set it down.",
120
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
121
+ "Use the left arm to pick up the red block.",
122
+ "Grab the red block with the left arm.",
123
+ "Grab the red block with the left arm.",
124
+ "Pick up the red block and switch arms.",
125
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
126
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
127
+ "Grab the red block using the left arm.",
128
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
129
+ "Pass the red block to the right arm and set it down.",
130
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
131
+ "Use the left arm to pick up the red block.",
132
+ "Grab the red block with the left arm.",
133
+ "Grab the red block with the left arm.",
134
+ "Pick up the red block and switch arms.",
135
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
136
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
137
+ "Grab the red block using the left arm.",
138
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
139
+ "Pass the red block to the right arm and set it down.",
140
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
141
+ "Use the left arm to pick up the red block.",
142
+ "Grab the red block with the left arm.",
143
+ "Grab the red block with the left arm.",
144
+ "Pick up the red block and switch arms.",
145
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
146
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
147
+ "Grab the red block using the left arm.",
148
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
149
+ "Pass the red block to the right arm and set it down.",
150
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
151
+ "Use the left arm to pick up the red block.",
152
+ "Grab the red block with the left arm.",
153
+ "Grab the red block with the left arm.",
154
+ "Pick up the red block and switch arms.",
155
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
156
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
157
+ "Grab the red block using the left arm.",
158
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
159
+ "Pass the red block to the right arm and set it down.",
160
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
161
+ "Use the left arm to pick up the red block.",
162
+ "Grab the red block with the left arm.",
163
+ "Grab the red block with the left arm.",
164
+ "Pick up the red block and switch arms.",
165
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
166
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
167
+ "Grab the red block using the left arm.",
168
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
169
+ "Pass the red block to the right arm and set it down.",
170
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
171
+ "Use the left arm to pick up the red block.",
172
+ "Grab the red block with the left arm.",
173
+ "Grab the red block with the left arm.",
174
+ "Pick up the red block and switch arms.",
175
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
176
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
177
+ "Grab the red block using the left arm.",
178
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
179
+ "Pass the red block to the right arm and set it down.",
180
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
181
+ "Use the left arm to pick up the red block.",
182
+ "Grab the red block with the left arm.",
183
+ "Grab the red block with the left arm.",
184
+ "Pick up the red block and switch arms.",
185
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
186
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
187
+ "Grab the red block using the left arm.",
188
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
189
+ "Pass the red block to the right arm and set it down.",
190
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
191
+ "Use the left arm to pick up the red block.",
192
+ "Grab the red block with the left arm.",
193
+ "Grab the red block with the left arm.",
194
+ "Pick up the red block and switch arms.",
195
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
196
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
197
+ "Grab the red block using the left arm.",
198
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
199
+ "Pass the red block to the right arm and set it down.",
200
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
201
+ "Use the left arm to pick up the red block.",
202
+ "Grab the red block with the left arm.",
203
+ "Grab the red block with the left arm.",
204
+ "Pick up the red block and switch arms."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode25.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Grab the red block and transfer to the right.",
4
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
5
+ "Pick the red block with the left arm and transfer to the right.",
6
+ "Take the red block, pass it to the right arm, and drop it.",
7
+ "Hold the red block, transfer to the right arm, then set it down.",
8
+ "Hand the red block to the right arm.",
9
+ "Take the red block, pass it to the right arm, then place it.",
10
+ "Take the red block using the left arm and hand it over.",
11
+ "Take the red block and move it to the pad.",
12
+ "Grab the red block, hand it to the right arm, then set it down.",
13
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
14
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
15
+ "Lift, switch arms, and place the red block.",
16
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
17
+ "Use your arms to shift the red block.",
18
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
19
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
20
+ "Set the red block on the blue pad gently.",
21
+ "Hold the red block with the left arm and place it on the pad.",
22
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
23
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
24
+ "Place the red block onto the blue pad using the right arm.",
25
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
26
+ "Pass the red block from the left to the right.",
27
+ "Place the red block on the blue pad.",
28
+ "Lift the block with the left arm, pass it to the right arm.",
29
+ "Move the red block using the left arm.",
30
+ "Use the left arm to grab the red block.",
31
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
32
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
33
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
34
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
35
+ "Lift the red block, hand it over, and place it properly.",
36
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
37
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
38
+ "Move the red block from the left hand to the pad.",
39
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
40
+ "Lift the red block with your left arm.",
41
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
42
+ "Use left arm to grab the red block and place it on the pad.",
43
+ "Grab red block, pass to the right arm, then drop on blue pad.",
44
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
45
+ "Hand over the red block to the right arm.",
46
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
47
+ "Pick the red block with the left hand and pass it.",
48
+ "Use left arm to grab the block and hand it to the right.",
49
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
50
+ "Pick up and handover the red block.",
51
+ "Grip the red block with the left arm and transfer it.",
52
+ "Grab the red block, transfer it, and set it on blue.",
53
+ "Grab the red block and transfer to the right.",
54
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
55
+ "Pick the red block with the left arm and transfer to the right.",
56
+ "Take the red block, pass it to the right arm, and drop it.",
57
+ "Hold the red block, transfer to the right arm, then set it down.",
58
+ "Hand the red block to the right arm.",
59
+ "Take the red block, pass it to the right arm, then place it.",
60
+ "Take the red block using the left arm and hand it over.",
61
+ "Take the red block and move it to the pad.",
62
+ "Grab the red block, hand it to the right arm, then set it down.",
63
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
64
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
65
+ "Lift, switch arms, and place the red block.",
66
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
67
+ "Use your arms to shift the red block.",
68
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
69
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
70
+ "Set the red block on the blue pad gently.",
71
+ "Hold the red block with the left arm and place it on the pad.",
72
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
73
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
74
+ "Place the red block onto the blue pad using the right arm.",
75
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
76
+ "Pass the red block from the left to the right.",
77
+ "Place the red block on the blue pad.",
78
+ "Lift the block with the left arm, pass it to the right arm.",
79
+ "Move the red block using the left arm.",
80
+ "Use the left arm to grab the red block.",
81
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
82
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
83
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
84
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
85
+ "Lift the red block, hand it over, and place it properly.",
86
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
87
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
88
+ "Move the red block from the left hand to the pad.",
89
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
90
+ "Lift the red block with your left arm.",
91
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
92
+ "Use left arm to grab the red block and place it on the pad.",
93
+ "Grab red block, pass to the right arm, then drop on blue pad.",
94
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
95
+ "Hand over the red block to the right arm.",
96
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
97
+ "Pick the red block with the left hand and pass it.",
98
+ "Use left arm to grab the block and hand it to the right.",
99
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
100
+ "Pick up and handover the red block.",
101
+ "Grip the red block with the left arm and transfer it.",
102
+ "Grab the red block, transfer it, and set it on blue."
103
+ ],
104
+ "unseen": [
105
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
106
+ "Pass the red block to the right arm and set it down.",
107
+ "Grab the red block with the left arm.",
108
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
109
+ "Use the left arm to pick up the red block.",
110
+ "Pick up the red block and switch arms.",
111
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
112
+ "Grab the red block using the left arm.",
113
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
114
+ "Grab the red block with the left arm.",
115
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
116
+ "Pass the red block to the right arm and set it down.",
117
+ "Grab the red block with the left arm.",
118
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
119
+ "Use the left arm to pick up the red block.",
120
+ "Pick up the red block and switch arms.",
121
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
122
+ "Grab the red block using the left arm.",
123
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
124
+ "Grab the red block with the left arm.",
125
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
126
+ "Pass the red block to the right arm and set it down.",
127
+ "Grab the red block with the left arm.",
128
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
129
+ "Use the left arm to pick up the red block.",
130
+ "Pick up the red block and switch arms.",
131
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
132
+ "Grab the red block using the left arm.",
133
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
134
+ "Grab the red block with the left arm.",
135
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
136
+ "Pass the red block to the right arm and set it down.",
137
+ "Grab the red block with the left arm.",
138
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
139
+ "Use the left arm to pick up the red block.",
140
+ "Pick up the red block and switch arms.",
141
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
142
+ "Grab the red block using the left arm.",
143
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
144
+ "Grab the red block with the left arm.",
145
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
146
+ "Pass the red block to the right arm and set it down.",
147
+ "Grab the red block with the left arm.",
148
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
149
+ "Use the left arm to pick up the red block.",
150
+ "Pick up the red block and switch arms.",
151
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
152
+ "Grab the red block using the left arm.",
153
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
154
+ "Grab the red block with the left arm.",
155
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
156
+ "Pass the red block to the right arm and set it down.",
157
+ "Grab the red block with the left arm.",
158
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
159
+ "Use the left arm to pick up the red block.",
160
+ "Pick up the red block and switch arms.",
161
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
162
+ "Grab the red block using the left arm.",
163
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
164
+ "Grab the red block with the left arm.",
165
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
166
+ "Pass the red block to the right arm and set it down.",
167
+ "Grab the red block with the left arm.",
168
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
169
+ "Use the left arm to pick up the red block.",
170
+ "Pick up the red block and switch arms.",
171
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
172
+ "Grab the red block using the left arm.",
173
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
174
+ "Grab the red block with the left arm.",
175
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
176
+ "Pass the red block to the right arm and set it down.",
177
+ "Grab the red block with the left arm.",
178
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
179
+ "Use the left arm to pick up the red block.",
180
+ "Pick up the red block and switch arms.",
181
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
182
+ "Grab the red block using the left arm.",
183
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
184
+ "Grab the red block with the left arm.",
185
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
186
+ "Pass the red block to the right arm and set it down.",
187
+ "Grab the red block with the left arm.",
188
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
189
+ "Use the left arm to pick up the red block.",
190
+ "Pick up the red block and switch arms.",
191
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
192
+ "Grab the red block using the left arm.",
193
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
194
+ "Grab the red block with the left arm.",
195
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
196
+ "Pass the red block to the right arm and set it down.",
197
+ "Grab the red block with the left arm.",
198
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
199
+ "Use the left arm to pick up the red block.",
200
+ "Pick up the red block and switch arms.",
201
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
202
+ "Grab the red block using the left arm.",
203
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
204
+ "Grab the red block with the left arm."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode26.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
4
+ "Grab the red block, transfer it, and set it on blue.",
5
+ "Lift the block with the left arm, pass it to the right arm.",
6
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
7
+ "Hand the red block to the right arm.",
8
+ "Grab red block, pass to the right arm, then drop on blue pad.",
9
+ "Use your arms to shift the red block.",
10
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
11
+ "Move the red block using the left arm.",
12
+ "Set the red block on the blue pad gently.",
13
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
14
+ "Use the left arm to grab the red block.",
15
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
16
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
17
+ "Place the red block on the blue pad.",
18
+ "Grab the red block, hand it to the right arm, then set it down.",
19
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
20
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
21
+ "Take the red block, pass it to the right arm, then place it.",
22
+ "Lift the red block, hand it over, and place it properly.",
23
+ "Lift, switch arms, and place the red block.",
24
+ "Take the red block using the left arm and hand it over.",
25
+ "Use left arm to grab the block and hand it to the right.",
26
+ "Pass the red block from the left to the right.",
27
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
28
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
29
+ "Move the red block from the left hand to the pad.",
30
+ "Pick the red block with the left arm and transfer to the right.",
31
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
32
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
33
+ "Grab the red block and transfer to the right.",
34
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
35
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
36
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
37
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
38
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
39
+ "Pick the red block with the left hand and pass it.",
40
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
41
+ "Pick up and handover the red block.",
42
+ "Grip the red block with the left arm and transfer it.",
43
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
44
+ "Take the red block and move it to the pad.",
45
+ "Use left arm to grab the red block and place it on the pad.",
46
+ "Place the red block onto the blue pad using the right arm.",
47
+ "Hold the red block, transfer to the right arm, then set it down.",
48
+ "Take the red block, pass it to the right arm, and drop it.",
49
+ "Hold the red block with the left arm and place it on the pad.",
50
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
51
+ "Lift the red block with your left arm.",
52
+ "Hand over the red block to the right arm.",
53
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
54
+ "Grab the red block, transfer it, and set it on blue.",
55
+ "Lift the block with the left arm, pass it to the right arm.",
56
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
57
+ "Hand the red block to the right arm.",
58
+ "Grab red block, pass to the right arm, then drop on blue pad.",
59
+ "Use your arms to shift the red block.",
60
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
61
+ "Move the red block using the left arm.",
62
+ "Set the red block on the blue pad gently.",
63
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
64
+ "Use the left arm to grab the red block.",
65
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
66
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
67
+ "Place the red block on the blue pad.",
68
+ "Grab the red block, hand it to the right arm, then set it down.",
69
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
70
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
71
+ "Take the red block, pass it to the right arm, then place it.",
72
+ "Lift the red block, hand it over, and place it properly.",
73
+ "Lift, switch arms, and place the red block.",
74
+ "Take the red block using the left arm and hand it over.",
75
+ "Use left arm to grab the block and hand it to the right.",
76
+ "Pass the red block from the left to the right.",
77
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
78
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
79
+ "Move the red block from the left hand to the pad.",
80
+ "Pick the red block with the left arm and transfer to the right.",
81
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
82
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
83
+ "Grab the red block and transfer to the right.",
84
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
85
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
86
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
87
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
88
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
89
+ "Pick the red block with the left hand and pass it.",
90
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
91
+ "Pick up and handover the red block.",
92
+ "Grip the red block with the left arm and transfer it.",
93
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
94
+ "Take the red block and move it to the pad.",
95
+ "Use left arm to grab the red block and place it on the pad.",
96
+ "Place the red block onto the blue pad using the right arm.",
97
+ "Hold the red block, transfer to the right arm, then set it down.",
98
+ "Take the red block, pass it to the right arm, and drop it.",
99
+ "Hold the red block with the left arm and place it on the pad.",
100
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
101
+ "Lift the red block with your left arm.",
102
+ "Hand over the red block to the right arm."
103
+ ],
104
+ "unseen": [
105
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
106
+ "Pass the red block to the right arm and set it down.",
107
+ "Grab the red block using the left arm.",
108
+ "Pick up the red block and switch arms.",
109
+ "Grab the red block with the left arm.",
110
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
111
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
112
+ "Use the left arm to pick up the red block.",
113
+ "Grab the red block with the left arm.",
114
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
115
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
116
+ "Pass the red block to the right arm and set it down.",
117
+ "Grab the red block using the left arm.",
118
+ "Pick up the red block and switch arms.",
119
+ "Grab the red block with the left arm.",
120
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
121
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
122
+ "Use the left arm to pick up the red block.",
123
+ "Grab the red block with the left arm.",
124
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
125
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
126
+ "Pass the red block to the right arm and set it down.",
127
+ "Grab the red block using the left arm.",
128
+ "Pick up the red block and switch arms.",
129
+ "Grab the red block with the left arm.",
130
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
131
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
132
+ "Use the left arm to pick up the red block.",
133
+ "Grab the red block with the left arm.",
134
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
135
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
136
+ "Pass the red block to the right arm and set it down.",
137
+ "Grab the red block using the left arm.",
138
+ "Pick up the red block and switch arms.",
139
+ "Grab the red block with the left arm.",
140
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
141
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
142
+ "Use the left arm to pick up the red block.",
143
+ "Grab the red block with the left arm.",
144
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
145
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
146
+ "Pass the red block to the right arm and set it down.",
147
+ "Grab the red block using the left arm.",
148
+ "Pick up the red block and switch arms.",
149
+ "Grab the red block with the left arm.",
150
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
151
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
152
+ "Use the left arm to pick up the red block.",
153
+ "Grab the red block with the left arm.",
154
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
155
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
156
+ "Pass the red block to the right arm and set it down.",
157
+ "Grab the red block using the left arm.",
158
+ "Pick up the red block and switch arms.",
159
+ "Grab the red block with the left arm.",
160
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
161
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
162
+ "Use the left arm to pick up the red block.",
163
+ "Grab the red block with the left arm.",
164
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
165
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
166
+ "Pass the red block to the right arm and set it down.",
167
+ "Grab the red block using the left arm.",
168
+ "Pick up the red block and switch arms.",
169
+ "Grab the red block with the left arm.",
170
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
171
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
172
+ "Use the left arm to pick up the red block.",
173
+ "Grab the red block with the left arm.",
174
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
175
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
176
+ "Pass the red block to the right arm and set it down.",
177
+ "Grab the red block using the left arm.",
178
+ "Pick up the red block and switch arms.",
179
+ "Grab the red block with the left arm.",
180
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
181
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
182
+ "Use the left arm to pick up the red block.",
183
+ "Grab the red block with the left arm.",
184
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
185
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
186
+ "Pass the red block to the right arm and set it down.",
187
+ "Grab the red block using the left arm.",
188
+ "Pick up the red block and switch arms.",
189
+ "Grab the red block with the left arm.",
190
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
191
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
192
+ "Use the left arm to pick up the red block.",
193
+ "Grab the red block with the left arm.",
194
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
195
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
196
+ "Pass the red block to the right arm and set it down.",
197
+ "Grab the red block using the left arm.",
198
+ "Pick up the red block and switch arms.",
199
+ "Grab the red block with the left arm.",
200
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
201
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
202
+ "Use the left arm to pick up the red block.",
203
+ "Grab the red block with the left arm.",
204
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode27.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
4
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
5
+ "Lift the red block with your left arm.",
6
+ "Grab the red block, transfer it, and set it on blue.",
7
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
8
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
9
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
10
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
11
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
12
+ "Lift the block with the left arm, pass it to the right arm.",
13
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
14
+ "Place the red block onto the blue pad using the right arm.",
15
+ "Hold the red block with the left arm and place it on the pad.",
16
+ "Hold the red block, transfer to the right arm, then set it down.",
17
+ "Set the red block on the blue pad gently.",
18
+ "Take the red block and move it to the pad.",
19
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
20
+ "Grab red block, pass to the right arm, then drop on blue pad.",
21
+ "Use the left arm to grab the red block.",
22
+ "Move the red block from the left hand to the pad.",
23
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
24
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
25
+ "Lift, switch arms, and place the red block.",
26
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
27
+ "Use your arms to shift the red block.",
28
+ "Hand over the red block to the right arm.",
29
+ "Pass the red block from the left to the right.",
30
+ "Pick the red block with the left hand and pass it.",
31
+ "Use left arm to grab the block and hand it to the right.",
32
+ "Use left arm to grab the red block and place it on the pad.",
33
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
34
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
35
+ "Hand the red block to the right arm.",
36
+ "Take the red block using the left arm and hand it over.",
37
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
38
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
39
+ "Place the red block on the blue pad.",
40
+ "Grab the red block and transfer to the right.",
41
+ "Move the red block using the left arm.",
42
+ "Lift the red block, hand it over, and place it properly.",
43
+ "Pick up and handover the red block.",
44
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
45
+ "Grip the red block with the left arm and transfer it.",
46
+ "Pick the red block with the left arm and transfer to the right.",
47
+ "Grab the red block, hand it to the right arm, then set it down.",
48
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
49
+ "Take the red block, pass it to the right arm, and drop it.",
50
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
51
+ "Take the red block, pass it to the right arm, then place it.",
52
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
53
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
54
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
55
+ "Lift the red block with your left arm.",
56
+ "Grab the red block, transfer it, and set it on blue.",
57
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
58
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
59
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
60
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
61
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
62
+ "Lift the block with the left arm, pass it to the right arm.",
63
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
64
+ "Place the red block onto the blue pad using the right arm.",
65
+ "Hold the red block with the left arm and place it on the pad.",
66
+ "Hold the red block, transfer to the right arm, then set it down.",
67
+ "Set the red block on the blue pad gently.",
68
+ "Take the red block and move it to the pad.",
69
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
70
+ "Grab red block, pass to the right arm, then drop on blue pad.",
71
+ "Use the left arm to grab the red block.",
72
+ "Move the red block from the left hand to the pad.",
73
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
74
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
75
+ "Lift, switch arms, and place the red block.",
76
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
77
+ "Use your arms to shift the red block.",
78
+ "Hand over the red block to the right arm.",
79
+ "Pass the red block from the left to the right.",
80
+ "Pick the red block with the left hand and pass it.",
81
+ "Use left arm to grab the block and hand it to the right.",
82
+ "Use left arm to grab the red block and place it on the pad.",
83
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
84
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
85
+ "Hand the red block to the right arm.",
86
+ "Take the red block using the left arm and hand it over.",
87
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
88
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
89
+ "Place the red block on the blue pad.",
90
+ "Grab the red block and transfer to the right.",
91
+ "Move the red block using the left arm.",
92
+ "Lift the red block, hand it over, and place it properly.",
93
+ "Pick up and handover the red block.",
94
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
95
+ "Grip the red block with the left arm and transfer it.",
96
+ "Pick the red block with the left arm and transfer to the right.",
97
+ "Grab the red block, hand it to the right arm, then set it down.",
98
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
99
+ "Take the red block, pass it to the right arm, and drop it.",
100
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
101
+ "Take the red block, pass it to the right arm, then place it.",
102
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Pass the red block to the right arm and set it down.",
106
+ "Pick up the red block and switch arms.",
107
+ "Grab the red block with the left arm.",
108
+ "Grab the red block with the left arm.",
109
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
110
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
111
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
112
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
113
+ "Use the left arm to pick up the red block.",
114
+ "Grab the red block using the left arm.",
115
+ "Pass the red block to the right arm and set it down.",
116
+ "Pick up the red block and switch arms.",
117
+ "Grab the red block with the left arm.",
118
+ "Grab the red block with the left arm.",
119
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
120
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
121
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
122
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
123
+ "Use the left arm to pick up the red block.",
124
+ "Grab the red block using the left arm.",
125
+ "Pass the red block to the right arm and set it down.",
126
+ "Pick up the red block and switch arms.",
127
+ "Grab the red block with the left arm.",
128
+ "Grab the red block with the left arm.",
129
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
130
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
131
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
132
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
133
+ "Use the left arm to pick up the red block.",
134
+ "Grab the red block using the left arm.",
135
+ "Pass the red block to the right arm and set it down.",
136
+ "Pick up the red block and switch arms.",
137
+ "Grab the red block with the left arm.",
138
+ "Grab the red block with the left arm.",
139
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
140
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
141
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
142
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
143
+ "Use the left arm to pick up the red block.",
144
+ "Grab the red block using the left arm.",
145
+ "Pass the red block to the right arm and set it down.",
146
+ "Pick up the red block and switch arms.",
147
+ "Grab the red block with the left arm.",
148
+ "Grab the red block with the left arm.",
149
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
150
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
151
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
152
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
153
+ "Use the left arm to pick up the red block.",
154
+ "Grab the red block using the left arm.",
155
+ "Pass the red block to the right arm and set it down.",
156
+ "Pick up the red block and switch arms.",
157
+ "Grab the red block with the left arm.",
158
+ "Grab the red block with the left arm.",
159
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
160
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
161
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
162
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
163
+ "Use the left arm to pick up the red block.",
164
+ "Grab the red block using the left arm.",
165
+ "Pass the red block to the right arm and set it down.",
166
+ "Pick up the red block and switch arms.",
167
+ "Grab the red block with the left arm.",
168
+ "Grab the red block with the left arm.",
169
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
170
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
171
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
172
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
173
+ "Use the left arm to pick up the red block.",
174
+ "Grab the red block using the left arm.",
175
+ "Pass the red block to the right arm and set it down.",
176
+ "Pick up the red block and switch arms.",
177
+ "Grab the red block with the left arm.",
178
+ "Grab the red block with the left arm.",
179
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
180
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
181
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
182
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
183
+ "Use the left arm to pick up the red block.",
184
+ "Grab the red block using the left arm.",
185
+ "Pass the red block to the right arm and set it down.",
186
+ "Pick up the red block and switch arms.",
187
+ "Grab the red block with the left arm.",
188
+ "Grab the red block with the left arm.",
189
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
190
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
191
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
192
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
193
+ "Use the left arm to pick up the red block.",
194
+ "Grab the red block using the left arm.",
195
+ "Pass the red block to the right arm and set it down.",
196
+ "Pick up the red block and switch arms.",
197
+ "Grab the red block with the left arm.",
198
+ "Grab the red block with the left arm.",
199
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
200
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
201
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
202
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
203
+ "Use the left arm to pick up the red block.",
204
+ "Grab the red block using the left arm."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode29.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
4
+ "Take the red block and move it to the pad.",
5
+ "Lift the red block, hand it over, and place it properly.",
6
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
7
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
8
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
9
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
10
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
11
+ "Place the red block onto the blue pad using the right arm.",
12
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
13
+ "Grab red block, pass to the right arm, then drop on blue pad.",
14
+ "Hold the red block with the left arm and place it on the pad.",
15
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
16
+ "Pick the red block with the left arm and transfer to the right.",
17
+ "Grab the red block, transfer it, and set it on blue.",
18
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
19
+ "Pick up and handover the red block.",
20
+ "Use left arm to grab the block and hand it to the right.",
21
+ "Take the red block using the left arm and hand it over.",
22
+ "Pick the red block with the left hand and pass it.",
23
+ "Take the red block, pass it to the right arm, and drop it.",
24
+ "Grip the red block with the left arm and transfer it.",
25
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
26
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
27
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
28
+ "Move the red block using the left arm.",
29
+ "Grab the red block, hand it to the right arm, then set it down.",
30
+ "Hand over the red block to the right arm.",
31
+ "Use left arm to grab the red block and place it on the pad.",
32
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
33
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
34
+ "Take the red block, pass it to the right arm, then place it.",
35
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
36
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
37
+ "Set the red block on the blue pad gently.",
38
+ "Lift, switch arms, and place the red block.",
39
+ "Pass the red block from the left to the right.",
40
+ "Use the left arm to grab the red block.",
41
+ "Lift the block with the left arm, pass it to the right arm.",
42
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
43
+ "Hand the red block to the right arm.",
44
+ "Move the red block from the left hand to the pad.",
45
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
46
+ "Use your arms to shift the red block.",
47
+ "Place the red block on the blue pad.",
48
+ "Hold the red block, transfer to the right arm, then set it down.",
49
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
50
+ "Grab the red block and transfer to the right.",
51
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
52
+ "Lift the red block with your left arm.",
53
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
54
+ "Take the red block and move it to the pad.",
55
+ "Lift the red block, hand it over, and place it properly.",
56
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
57
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
58
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
59
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
60
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
61
+ "Place the red block onto the blue pad using the right arm.",
62
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
63
+ "Grab red block, pass to the right arm, then drop on blue pad.",
64
+ "Hold the red block with the left arm and place it on the pad.",
65
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
66
+ "Pick the red block with the left arm and transfer to the right.",
67
+ "Grab the red block, transfer it, and set it on blue.",
68
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
69
+ "Pick up and handover the red block.",
70
+ "Use left arm to grab the block and hand it to the right.",
71
+ "Take the red block using the left arm and hand it over.",
72
+ "Pick the red block with the left hand and pass it.",
73
+ "Take the red block, pass it to the right arm, and drop it.",
74
+ "Grip the red block with the left arm and transfer it.",
75
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
76
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
77
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
78
+ "Move the red block using the left arm.",
79
+ "Grab the red block, hand it to the right arm, then set it down.",
80
+ "Hand over the red block to the right arm.",
81
+ "Use left arm to grab the red block and place it on the pad.",
82
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
83
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
84
+ "Take the red block, pass it to the right arm, then place it.",
85
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
86
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
87
+ "Set the red block on the blue pad gently.",
88
+ "Lift, switch arms, and place the red block.",
89
+ "Pass the red block from the left to the right.",
90
+ "Use the left arm to grab the red block.",
91
+ "Lift the block with the left arm, pass it to the right arm.",
92
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
93
+ "Hand the red block to the right arm.",
94
+ "Move the red block from the left hand to the pad.",
95
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
96
+ "Use your arms to shift the red block.",
97
+ "Place the red block on the blue pad.",
98
+ "Hold the red block, transfer to the right arm, then set it down.",
99
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
100
+ "Grab the red block and transfer to the right.",
101
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
102
+ "Lift the red block with your left arm."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block using the left arm.",
106
+ "Pick up the red block and switch arms.",
107
+ "Use the left arm to pick up the red block.",
108
+ "Pass the red block to the right arm and set it down.",
109
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
110
+ "Grab the red block with the left arm.",
111
+ "Grab the red block with the left arm.",
112
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
113
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
114
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
115
+ "Grab the red block using the left arm.",
116
+ "Pick up the red block and switch arms.",
117
+ "Use the left arm to pick up the red block.",
118
+ "Pass the red block to the right arm and set it down.",
119
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
120
+ "Grab the red block with the left arm.",
121
+ "Grab the red block with the left arm.",
122
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
123
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
124
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
125
+ "Grab the red block using the left arm.",
126
+ "Pick up the red block and switch arms.",
127
+ "Use the left arm to pick up the red block.",
128
+ "Pass the red block to the right arm and set it down.",
129
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
130
+ "Grab the red block with the left arm.",
131
+ "Grab the red block with the left arm.",
132
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
133
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
134
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
135
+ "Grab the red block using the left arm.",
136
+ "Pick up the red block and switch arms.",
137
+ "Use the left arm to pick up the red block.",
138
+ "Pass the red block to the right arm and set it down.",
139
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
140
+ "Grab the red block with the left arm.",
141
+ "Grab the red block with the left arm.",
142
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
143
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
144
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
145
+ "Grab the red block using the left arm.",
146
+ "Pick up the red block and switch arms.",
147
+ "Use the left arm to pick up the red block.",
148
+ "Pass the red block to the right arm and set it down.",
149
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
150
+ "Grab the red block with the left arm.",
151
+ "Grab the red block with the left arm.",
152
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
153
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
154
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
155
+ "Grab the red block using the left arm.",
156
+ "Pick up the red block and switch arms.",
157
+ "Use the left arm to pick up the red block.",
158
+ "Pass the red block to the right arm and set it down.",
159
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
160
+ "Grab the red block with the left arm.",
161
+ "Grab the red block with the left arm.",
162
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
163
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
164
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
165
+ "Grab the red block using the left arm.",
166
+ "Pick up the red block and switch arms.",
167
+ "Use the left arm to pick up the red block.",
168
+ "Pass the red block to the right arm and set it down.",
169
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
170
+ "Grab the red block with the left arm.",
171
+ "Grab the red block with the left arm.",
172
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
173
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
174
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
175
+ "Grab the red block using the left arm.",
176
+ "Pick up the red block and switch arms.",
177
+ "Use the left arm to pick up the red block.",
178
+ "Pass the red block to the right arm and set it down.",
179
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
180
+ "Grab the red block with the left arm.",
181
+ "Grab the red block with the left arm.",
182
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
183
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
184
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
185
+ "Grab the red block using the left arm.",
186
+ "Pick up the red block and switch arms.",
187
+ "Use the left arm to pick up the red block.",
188
+ "Pass the red block to the right arm and set it down.",
189
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
190
+ "Grab the red block with the left arm.",
191
+ "Grab the red block with the left arm.",
192
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
193
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
194
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
195
+ "Grab the red block using the left arm.",
196
+ "Pick up the red block and switch arms.",
197
+ "Use the left arm to pick up the red block.",
198
+ "Pass the red block to the right arm and set it down.",
199
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
200
+ "Grab the red block with the left arm.",
201
+ "Grab the red block with the left arm.",
202
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
203
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
204
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode36.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Pick the red block with the left hand and pass it.",
4
+ "Hand the red block to the right arm.",
5
+ "Hold the red block with the left arm and place it on the pad.",
6
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
7
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
8
+ "Grab the red block, hand it to the right arm, then set it down.",
9
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
10
+ "Take the red block, pass it to the right arm, and drop it.",
11
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
12
+ "Lift the block with the left arm, pass it to the right arm.",
13
+ "Place the red block onto the blue pad using the right arm.",
14
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
15
+ "Hold the red block, transfer to the right arm, then set it down.",
16
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
17
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
18
+ "Place the red block on the blue pad.",
19
+ "Use your arms to shift the red block.",
20
+ "Lift, switch arms, and place the red block.",
21
+ "Take the red block using the left arm and hand it over.",
22
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
23
+ "Use left arm to grab the block and hand it to the right.",
24
+ "Set the red block on the blue pad gently.",
25
+ "Pick the red block with the left arm and transfer to the right.",
26
+ "Hand over the red block to the right arm.",
27
+ "Lift the red block, hand it over, and place it properly.",
28
+ "Move the red block using the left arm.",
29
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
30
+ "Move the red block from the left hand to the pad.",
31
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
32
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
33
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
34
+ "Pass the red block from the left to the right.",
35
+ "Use the left arm to grab the red block.",
36
+ "Grab red block, pass to the right arm, then drop on blue pad.",
37
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
38
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
39
+ "Lift the red block with your left arm.",
40
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
41
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
42
+ "Grab the red block, transfer it, and set it on blue.",
43
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
44
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
45
+ "Use left arm to grab the red block and place it on the pad.",
46
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
47
+ "Pick up and handover the red block.",
48
+ "Grab the red block and transfer to the right.",
49
+ "Take the red block, pass it to the right arm, then place it.",
50
+ "Take the red block and move it to the pad.",
51
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
52
+ "Grip the red block with the left arm and transfer it.",
53
+ "Pick the red block with the left hand and pass it.",
54
+ "Hand the red block to the right arm.",
55
+ "Hold the red block with the left arm and place it on the pad.",
56
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
57
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
58
+ "Grab the red block, hand it to the right arm, then set it down.",
59
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
60
+ "Take the red block, pass it to the right arm, and drop it.",
61
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
62
+ "Lift the block with the left arm, pass it to the right arm.",
63
+ "Place the red block onto the blue pad using the right arm.",
64
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
65
+ "Hold the red block, transfer to the right arm, then set it down.",
66
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
67
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
68
+ "Place the red block on the blue pad.",
69
+ "Use your arms to shift the red block.",
70
+ "Lift, switch arms, and place the red block.",
71
+ "Take the red block using the left arm and hand it over.",
72
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
73
+ "Use left arm to grab the block and hand it to the right.",
74
+ "Set the red block on the blue pad gently.",
75
+ "Pick the red block with the left arm and transfer to the right.",
76
+ "Hand over the red block to the right arm.",
77
+ "Lift the red block, hand it over, and place it properly.",
78
+ "Move the red block using the left arm.",
79
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
80
+ "Move the red block from the left hand to the pad.",
81
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
82
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
83
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
84
+ "Pass the red block from the left to the right.",
85
+ "Use the left arm to grab the red block.",
86
+ "Grab red block, pass to the right arm, then drop on blue pad.",
87
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
88
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
89
+ "Lift the red block with your left arm.",
90
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
91
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
92
+ "Grab the red block, transfer it, and set it on blue.",
93
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
94
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
95
+ "Use left arm to grab the red block and place it on the pad.",
96
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
97
+ "Pick up and handover the red block.",
98
+ "Grab the red block and transfer to the right.",
99
+ "Take the red block, pass it to the right arm, then place it.",
100
+ "Take the red block and move it to the pad.",
101
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
102
+ "Grip the red block with the left arm and transfer it."
103
+ ],
104
+ "unseen": [
105
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
106
+ "Grab the red block with the left arm.",
107
+ "Grab the red block with the left arm.",
108
+ "Pick up the red block and switch arms.",
109
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
110
+ "Pass the red block to the right arm and set it down.",
111
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
112
+ "Grab the red block using the left arm.",
113
+ "Use the left arm to pick up the red block.",
114
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
115
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
116
+ "Grab the red block with the left arm.",
117
+ "Grab the red block with the left arm.",
118
+ "Pick up the red block and switch arms.",
119
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
120
+ "Pass the red block to the right arm and set it down.",
121
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
122
+ "Grab the red block using the left arm.",
123
+ "Use the left arm to pick up the red block.",
124
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
125
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
126
+ "Grab the red block with the left arm.",
127
+ "Grab the red block with the left arm.",
128
+ "Pick up the red block and switch arms.",
129
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
130
+ "Pass the red block to the right arm and set it down.",
131
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
132
+ "Grab the red block using the left arm.",
133
+ "Use the left arm to pick up the red block.",
134
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
135
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
136
+ "Grab the red block with the left arm.",
137
+ "Grab the red block with the left arm.",
138
+ "Pick up the red block and switch arms.",
139
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
140
+ "Pass the red block to the right arm and set it down.",
141
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
142
+ "Grab the red block using the left arm.",
143
+ "Use the left arm to pick up the red block.",
144
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
145
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
146
+ "Grab the red block with the left arm.",
147
+ "Grab the red block with the left arm.",
148
+ "Pick up the red block and switch arms.",
149
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
150
+ "Pass the red block to the right arm and set it down.",
151
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
152
+ "Grab the red block using the left arm.",
153
+ "Use the left arm to pick up the red block.",
154
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
155
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
156
+ "Grab the red block with the left arm.",
157
+ "Grab the red block with the left arm.",
158
+ "Pick up the red block and switch arms.",
159
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
160
+ "Pass the red block to the right arm and set it down.",
161
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
162
+ "Grab the red block using the left arm.",
163
+ "Use the left arm to pick up the red block.",
164
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
165
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
166
+ "Grab the red block with the left arm.",
167
+ "Grab the red block with the left arm.",
168
+ "Pick up the red block and switch arms.",
169
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
170
+ "Pass the red block to the right arm and set it down.",
171
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
172
+ "Grab the red block using the left arm.",
173
+ "Use the left arm to pick up the red block.",
174
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
175
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
176
+ "Grab the red block with the left arm.",
177
+ "Grab the red block with the left arm.",
178
+ "Pick up the red block and switch arms.",
179
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
180
+ "Pass the red block to the right arm and set it down.",
181
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
182
+ "Grab the red block using the left arm.",
183
+ "Use the left arm to pick up the red block.",
184
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
185
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
186
+ "Grab the red block with the left arm.",
187
+ "Grab the red block with the left arm.",
188
+ "Pick up the red block and switch arms.",
189
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
190
+ "Pass the red block to the right arm and set it down.",
191
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
192
+ "Grab the red block using the left arm.",
193
+ "Use the left arm to pick up the red block.",
194
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
195
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
196
+ "Grab the red block with the left arm.",
197
+ "Grab the red block with the left arm.",
198
+ "Pick up the red block and switch arms.",
199
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
200
+ "Pass the red block to the right arm and set it down.",
201
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
202
+ "Grab the red block using the left arm.",
203
+ "Use the left arm to pick up the red block.",
204
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode45.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
4
+ "Pick the red block with the left hand and pass it.",
5
+ "Use your arms to shift the red block.",
6
+ "Pass the red block from the left to the right.",
7
+ "Grab the red block, transfer it, and set it on blue.",
8
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
9
+ "Grip the red block with the left arm and transfer it.",
10
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
11
+ "Grab the red block, hand it to the right arm, then set it down.",
12
+ "Hold the red block, transfer to the right arm, then set it down.",
13
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
14
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
15
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
16
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
17
+ "Place the red block on the blue pad.",
18
+ "Place the red block onto the blue pad using the right arm.",
19
+ "Lift the red block with your left arm.",
20
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
21
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
22
+ "Use left arm to grab the block and hand it to the right.",
23
+ "Lift, switch arms, and place the red block.",
24
+ "Pick up and handover the red block.",
25
+ "Set the red block on the blue pad gently.",
26
+ "Take the red block using the left arm and hand it over.",
27
+ "Grab red block, pass to the right arm, then drop on blue pad.",
28
+ "Move the red block using the left arm.",
29
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
30
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
31
+ "Move the red block from the left hand to the pad.",
32
+ "Take the red block, pass it to the right arm, and drop it.",
33
+ "Lift the red block, hand it over, and place it properly.",
34
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
35
+ "Use left arm to grab the red block and place it on the pad.",
36
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
37
+ "Use the left arm to grab the red block.",
38
+ "Hand the red block to the right arm.",
39
+ "Grab the red block and transfer to the right.",
40
+ "Take the red block, pass it to the right arm, then place it.",
41
+ "Hand over the red block to the right arm.",
42
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
43
+ "Take the red block and move it to the pad.",
44
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
45
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
46
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
47
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
48
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
49
+ "Lift the block with the left arm, pass it to the right arm.",
50
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
51
+ "Hold the red block with the left arm and place it on the pad.",
52
+ "Pick the red block with the left arm and transfer to the right.",
53
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
54
+ "Pick the red block with the left hand and pass it.",
55
+ "Use your arms to shift the red block.",
56
+ "Pass the red block from the left to the right.",
57
+ "Grab the red block, transfer it, and set it on blue.",
58
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
59
+ "Grip the red block with the left arm and transfer it.",
60
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
61
+ "Grab the red block, hand it to the right arm, then set it down.",
62
+ "Hold the red block, transfer to the right arm, then set it down.",
63
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
64
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
65
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
66
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
67
+ "Place the red block on the blue pad.",
68
+ "Place the red block onto the blue pad using the right arm.",
69
+ "Lift the red block with your left arm.",
70
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
71
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
72
+ "Use left arm to grab the block and hand it to the right.",
73
+ "Lift, switch arms, and place the red block.",
74
+ "Pick up and handover the red block.",
75
+ "Set the red block on the blue pad gently.",
76
+ "Take the red block using the left arm and hand it over.",
77
+ "Grab red block, pass to the right arm, then drop on blue pad.",
78
+ "Move the red block using the left arm.",
79
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
80
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
81
+ "Move the red block from the left hand to the pad.",
82
+ "Take the red block, pass it to the right arm, and drop it.",
83
+ "Lift the red block, hand it over, and place it properly.",
84
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
85
+ "Use left arm to grab the red block and place it on the pad.",
86
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
87
+ "Use the left arm to grab the red block.",
88
+ "Hand the red block to the right arm.",
89
+ "Grab the red block and transfer to the right.",
90
+ "Take the red block, pass it to the right arm, then place it.",
91
+ "Hand over the red block to the right arm.",
92
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
93
+ "Take the red block and move it to the pad.",
94
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
95
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
96
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
97
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
98
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
99
+ "Lift the block with the left arm, pass it to the right arm.",
100
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
101
+ "Hold the red block with the left arm and place it on the pad.",
102
+ "Pick the red block with the left arm and transfer to the right."
103
+ ],
104
+ "unseen": [
105
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
106
+ "Grab the red block using the left arm.",
107
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
108
+ "Pass the red block to the right arm and set it down.",
109
+ "Grab the red block with the left arm.",
110
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
111
+ "Use the left arm to pick up the red block.",
112
+ "Grab the red block with the left arm.",
113
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
114
+ "Pick up the red block and switch arms.",
115
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
116
+ "Grab the red block using the left arm.",
117
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
118
+ "Pass the red block to the right arm and set it down.",
119
+ "Grab the red block with the left arm.",
120
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
121
+ "Use the left arm to pick up the red block.",
122
+ "Grab the red block with the left arm.",
123
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
124
+ "Pick up the red block and switch arms.",
125
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
126
+ "Grab the red block using the left arm.",
127
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
128
+ "Pass the red block to the right arm and set it down.",
129
+ "Grab the red block with the left arm.",
130
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
131
+ "Use the left arm to pick up the red block.",
132
+ "Grab the red block with the left arm.",
133
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
134
+ "Pick up the red block and switch arms.",
135
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
136
+ "Grab the red block using the left arm.",
137
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
138
+ "Pass the red block to the right arm and set it down.",
139
+ "Grab the red block with the left arm.",
140
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
141
+ "Use the left arm to pick up the red block.",
142
+ "Grab the red block with the left arm.",
143
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
144
+ "Pick up the red block and switch arms.",
145
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
146
+ "Grab the red block using the left arm.",
147
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
148
+ "Pass the red block to the right arm and set it down.",
149
+ "Grab the red block with the left arm.",
150
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
151
+ "Use the left arm to pick up the red block.",
152
+ "Grab the red block with the left arm.",
153
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
154
+ "Pick up the red block and switch arms.",
155
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
156
+ "Grab the red block using the left arm.",
157
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
158
+ "Pass the red block to the right arm and set it down.",
159
+ "Grab the red block with the left arm.",
160
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
161
+ "Use the left arm to pick up the red block.",
162
+ "Grab the red block with the left arm.",
163
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
164
+ "Pick up the red block and switch arms.",
165
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
166
+ "Grab the red block using the left arm.",
167
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
168
+ "Pass the red block to the right arm and set it down.",
169
+ "Grab the red block with the left arm.",
170
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
171
+ "Use the left arm to pick up the red block.",
172
+ "Grab the red block with the left arm.",
173
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
174
+ "Pick up the red block and switch arms.",
175
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
176
+ "Grab the red block using the left arm.",
177
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
178
+ "Pass the red block to the right arm and set it down.",
179
+ "Grab the red block with the left arm.",
180
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
181
+ "Use the left arm to pick up the red block.",
182
+ "Grab the red block with the left arm.",
183
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
184
+ "Pick up the red block and switch arms.",
185
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
186
+ "Grab the red block using the left arm.",
187
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
188
+ "Pass the red block to the right arm and set it down.",
189
+ "Grab the red block with the left arm.",
190
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
191
+ "Use the left arm to pick up the red block.",
192
+ "Grab the red block with the left arm.",
193
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
194
+ "Pick up the red block and switch arms.",
195
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
196
+ "Grab the red block using the left arm.",
197
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
198
+ "Pass the red block to the right arm and set it down.",
199
+ "Grab the red block with the left arm.",
200
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
201
+ "Use the left arm to pick up the red block.",
202
+ "Grab the red block with the left arm.",
203
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
204
+ "Pick up the red block and switch arms."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode46.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
4
+ "Use your arms to shift the red block.",
5
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
6
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
7
+ "Take the red block, pass it to the right arm, then place it.",
8
+ "Lift, switch arms, and place the red block.",
9
+ "Grab the red block, hand it to the right arm, then set it down.",
10
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
11
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
12
+ "Set the red block on the blue pad gently.",
13
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
14
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
15
+ "Lift the red block with your left arm.",
16
+ "Grip the red block with the left arm and transfer it.",
17
+ "Move the red block using the left arm.",
18
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
19
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
20
+ "Pick the red block with the left hand and pass it.",
21
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
22
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
23
+ "Hold the red block with the left arm and place it on the pad.",
24
+ "Use the left arm to grab the red block.",
25
+ "Place the red block onto the blue pad using the right arm.",
26
+ "Pass the red block from the left to the right.",
27
+ "Hand over the red block to the right arm.",
28
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
29
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
30
+ "Grab red block, pass to the right arm, then drop on blue pad.",
31
+ "Hand the red block to the right arm.",
32
+ "Lift the block with the left arm, pass it to the right arm.",
33
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
34
+ "Pick the red block with the left arm and transfer to the right.",
35
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
36
+ "Hold the red block, transfer to the right arm, then set it down.",
37
+ "Take the red block, pass it to the right arm, and drop it.",
38
+ "Place the red block on the blue pad.",
39
+ "Pick up and handover the red block.",
40
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
41
+ "Grab the red block and transfer to the right.",
42
+ "Move the red block from the left hand to the pad.",
43
+ "Lift the red block, hand it over, and place it properly.",
44
+ "Grab the red block, transfer it, and set it on blue.",
45
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
46
+ "Use left arm to grab the red block and place it on the pad.",
47
+ "Take the red block using the left arm and hand it over.",
48
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
49
+ "Use left arm to grab the block and hand it to the right.",
50
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
51
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
52
+ "Take the red block and move it to the pad.",
53
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
54
+ "Use your arms to shift the red block.",
55
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
56
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
57
+ "Take the red block, pass it to the right arm, then place it.",
58
+ "Lift, switch arms, and place the red block.",
59
+ "Grab the red block, hand it to the right arm, then set it down.",
60
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
61
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
62
+ "Set the red block on the blue pad gently.",
63
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
64
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
65
+ "Lift the red block with your left arm.",
66
+ "Grip the red block with the left arm and transfer it.",
67
+ "Move the red block using the left arm.",
68
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
69
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
70
+ "Pick the red block with the left hand and pass it.",
71
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
72
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
73
+ "Hold the red block with the left arm and place it on the pad.",
74
+ "Use the left arm to grab the red block.",
75
+ "Place the red block onto the blue pad using the right arm.",
76
+ "Pass the red block from the left to the right.",
77
+ "Hand over the red block to the right arm.",
78
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
79
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
80
+ "Grab red block, pass to the right arm, then drop on blue pad.",
81
+ "Hand the red block to the right arm.",
82
+ "Lift the block with the left arm, pass it to the right arm.",
83
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
84
+ "Pick the red block with the left arm and transfer to the right.",
85
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
86
+ "Hold the red block, transfer to the right arm, then set it down.",
87
+ "Take the red block, pass it to the right arm, and drop it.",
88
+ "Place the red block on the blue pad.",
89
+ "Pick up and handover the red block.",
90
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
91
+ "Grab the red block and transfer to the right.",
92
+ "Move the red block from the left hand to the pad.",
93
+ "Lift the red block, hand it over, and place it properly.",
94
+ "Grab the red block, transfer it, and set it on blue.",
95
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
96
+ "Use left arm to grab the red block and place it on the pad.",
97
+ "Take the red block using the left arm and hand it over.",
98
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
99
+ "Use left arm to grab the block and hand it to the right.",
100
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
101
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
102
+ "Take the red block and move it to the pad."
103
+ ],
104
+ "unseen": [
105
+ "Use the left arm to pick up the red block.",
106
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
107
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
108
+ "Pick up the red block and switch arms.",
109
+ "Pass the red block to the right arm and set it down.",
110
+ "Grab the red block with the left arm.",
111
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
112
+ "Grab the red block with the left arm.",
113
+ "Grab the red block using the left arm.",
114
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
115
+ "Use the left arm to pick up the red block.",
116
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
117
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
118
+ "Pick up the red block and switch arms.",
119
+ "Pass the red block to the right arm and set it down.",
120
+ "Grab the red block with the left arm.",
121
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
122
+ "Grab the red block with the left arm.",
123
+ "Grab the red block using the left arm.",
124
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
125
+ "Use the left arm to pick up the red block.",
126
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
127
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
128
+ "Pick up the red block and switch arms.",
129
+ "Pass the red block to the right arm and set it down.",
130
+ "Grab the red block with the left arm.",
131
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
132
+ "Grab the red block with the left arm.",
133
+ "Grab the red block using the left arm.",
134
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
135
+ "Use the left arm to pick up the red block.",
136
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
137
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
138
+ "Pick up the red block and switch arms.",
139
+ "Pass the red block to the right arm and set it down.",
140
+ "Grab the red block with the left arm.",
141
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
142
+ "Grab the red block with the left arm.",
143
+ "Grab the red block using the left arm.",
144
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
145
+ "Use the left arm to pick up the red block.",
146
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
147
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
148
+ "Pick up the red block and switch arms.",
149
+ "Pass the red block to the right arm and set it down.",
150
+ "Grab the red block with the left arm.",
151
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
152
+ "Grab the red block with the left arm.",
153
+ "Grab the red block using the left arm.",
154
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
155
+ "Use the left arm to pick up the red block.",
156
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
157
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
158
+ "Pick up the red block and switch arms.",
159
+ "Pass the red block to the right arm and set it down.",
160
+ "Grab the red block with the left arm.",
161
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
162
+ "Grab the red block with the left arm.",
163
+ "Grab the red block using the left arm.",
164
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
165
+ "Use the left arm to pick up the red block.",
166
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
167
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
168
+ "Pick up the red block and switch arms.",
169
+ "Pass the red block to the right arm and set it down.",
170
+ "Grab the red block with the left arm.",
171
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
172
+ "Grab the red block with the left arm.",
173
+ "Grab the red block using the left arm.",
174
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
175
+ "Use the left arm to pick up the red block.",
176
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
177
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
178
+ "Pick up the red block and switch arms.",
179
+ "Pass the red block to the right arm and set it down.",
180
+ "Grab the red block with the left arm.",
181
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
182
+ "Grab the red block with the left arm.",
183
+ "Grab the red block using the left arm.",
184
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
185
+ "Use the left arm to pick up the red block.",
186
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
187
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
188
+ "Pick up the red block and switch arms.",
189
+ "Pass the red block to the right arm and set it down.",
190
+ "Grab the red block with the left arm.",
191
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
192
+ "Grab the red block with the left arm.",
193
+ "Grab the red block using the left arm.",
194
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
195
+ "Use the left arm to pick up the red block.",
196
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
197
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
198
+ "Pick up the red block and switch arms.",
199
+ "Pass the red block to the right arm and set it down.",
200
+ "Grab the red block with the left arm.",
201
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
202
+ "Grab the red block with the left arm.",
203
+ "Grab the red block using the left arm.",
204
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/instructions/episode9.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Use the left arm to grab the red block.",
4
+ "Lift the block with the left arm, pass it to the right arm.",
5
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
6
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
7
+ "Pick up and handover the red block.",
8
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
9
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
10
+ "Use left arm to grab the red block and place it on the pad.",
11
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
12
+ "Hold the red block with the left arm and place it on the pad.",
13
+ "Lift the red block, hand it over, and place it properly.",
14
+ "Move the red block using the left arm.",
15
+ "Grip the red block with the left arm and transfer it.",
16
+ "Hand over the red block to the right arm.",
17
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
18
+ "Take the red block using the left arm and hand it over.",
19
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
20
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
21
+ "Place the red block onto the blue pad using the right arm.",
22
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
23
+ "Pick the red block with the left hand and pass it.",
24
+ "Pick the red block with the left arm and transfer to the right.",
25
+ "Hold the red block, transfer to the right arm, then set it down.",
26
+ "Grab the red block and transfer to the right.",
27
+ "Lift the red block with your left arm.",
28
+ "Pass the red block from the left to the right.",
29
+ "Grab red block, pass to the right arm, then drop on blue pad.",
30
+ "Place the red block on the blue pad.",
31
+ "Lift, switch arms, and place the red block.",
32
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
33
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
34
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
35
+ "Grab the red block, hand it to the right arm, then set it down.",
36
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
37
+ "Move the red block from the left hand to the pad.",
38
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
39
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
40
+ "Set the red block on the blue pad gently.",
41
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
42
+ "Use your arms to shift the red block.",
43
+ "Hand the red block to the right arm.",
44
+ "Use left arm to grab the block and hand it to the right.",
45
+ "Take the red block, pass it to the right arm, then place it.",
46
+ "Take the red block and move it to the pad.",
47
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
48
+ "Grab the red block, transfer it, and set it on blue.",
49
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
50
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
51
+ "Take the red block, pass it to the right arm, and drop it.",
52
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
53
+ "Use the left arm to grab the red block.",
54
+ "Lift the block with the left arm, pass it to the right arm.",
55
+ "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad.",
56
+ "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
57
+ "Pick up and handover the red block.",
58
+ "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
59
+ "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
60
+ "Use left arm to grab the red block and place it on the pad.",
61
+ "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
62
+ "Hold the red block with the left arm and place it on the pad.",
63
+ "Lift the red block, hand it over, and place it properly.",
64
+ "Move the red block using the left arm.",
65
+ "Grip the red block with the left arm and transfer it.",
66
+ "Hand over the red block to the right arm.",
67
+ "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
68
+ "Take the red block using the left arm and hand it over.",
69
+ "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
70
+ "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
71
+ "Place the red block onto the blue pad using the right arm.",
72
+ "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
73
+ "Pick the red block with the left hand and pass it.",
74
+ "Pick the red block with the left arm and transfer to the right.",
75
+ "Hold the red block, transfer to the right arm, then set it down.",
76
+ "Grab the red block and transfer to the right.",
77
+ "Lift the red block with your left arm.",
78
+ "Pass the red block from the left to the right.",
79
+ "Grab red block, pass to the right arm, then drop on blue pad.",
80
+ "Place the red block on the blue pad.",
81
+ "Lift, switch arms, and place the red block.",
82
+ "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
83
+ "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
84
+ "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
85
+ "Grab the red block, hand it to the right arm, then set it down.",
86
+ "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
87
+ "Move the red block from the left hand to the pad.",
88
+ "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
89
+ "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
90
+ "Set the red block on the blue pad gently.",
91
+ "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
92
+ "Use your arms to shift the red block.",
93
+ "Hand the red block to the right arm.",
94
+ "Use left arm to grab the block and hand it to the right.",
95
+ "Take the red block, pass it to the right arm, then place it.",
96
+ "Take the red block and move it to the pad.",
97
+ "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
98
+ "Grab the red block, transfer it, and set it on blue.",
99
+ "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
100
+ "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
101
+ "Take the red block, pass it to the right arm, and drop it.",
102
+ "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad."
103
+ ],
104
+ "unseen": [
105
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
106
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
107
+ "Use the left arm to pick up the red block.",
108
+ "Grab the red block using the left arm.",
109
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
110
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
111
+ "Grab the red block with the left arm.",
112
+ "Pass the red block to the right arm and set it down.",
113
+ "Pick up the red block and switch arms.",
114
+ "Grab the red block with the left arm.",
115
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
116
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
117
+ "Use the left arm to pick up the red block.",
118
+ "Grab the red block using the left arm.",
119
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
120
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
121
+ "Grab the red block with the left arm.",
122
+ "Pass the red block to the right arm and set it down.",
123
+ "Pick up the red block and switch arms.",
124
+ "Grab the red block with the left arm.",
125
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
126
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
127
+ "Use the left arm to pick up the red block.",
128
+ "Grab the red block using the left arm.",
129
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
130
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
131
+ "Grab the red block with the left arm.",
132
+ "Pass the red block to the right arm and set it down.",
133
+ "Pick up the red block and switch arms.",
134
+ "Grab the red block with the left arm.",
135
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
136
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
137
+ "Use the left arm to pick up the red block.",
138
+ "Grab the red block using the left arm.",
139
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
140
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
141
+ "Grab the red block with the left arm.",
142
+ "Pass the red block to the right arm and set it down.",
143
+ "Pick up the red block and switch arms.",
144
+ "Grab the red block with the left arm.",
145
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
146
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
147
+ "Use the left arm to pick up the red block.",
148
+ "Grab the red block using the left arm.",
149
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
150
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
151
+ "Grab the red block with the left arm.",
152
+ "Pass the red block to the right arm and set it down.",
153
+ "Pick up the red block and switch arms.",
154
+ "Grab the red block with the left arm.",
155
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
156
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
157
+ "Use the left arm to pick up the red block.",
158
+ "Grab the red block using the left arm.",
159
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
160
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
161
+ "Grab the red block with the left arm.",
162
+ "Pass the red block to the right arm and set it down.",
163
+ "Pick up the red block and switch arms.",
164
+ "Grab the red block with the left arm.",
165
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
166
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
167
+ "Use the left arm to pick up the red block.",
168
+ "Grab the red block using the left arm.",
169
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
170
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
171
+ "Grab the red block with the left arm.",
172
+ "Pass the red block to the right arm and set it down.",
173
+ "Pick up the red block and switch arms.",
174
+ "Grab the red block with the left arm.",
175
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
176
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
177
+ "Use the left arm to pick up the red block.",
178
+ "Grab the red block using the left arm.",
179
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
180
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
181
+ "Grab the red block with the left arm.",
182
+ "Pass the red block to the right arm and set it down.",
183
+ "Pick up the red block and switch arms.",
184
+ "Grab the red block with the left arm.",
185
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
186
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
187
+ "Use the left arm to pick up the red block.",
188
+ "Grab the red block using the left arm.",
189
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
190
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
191
+ "Grab the red block with the left arm.",
192
+ "Pass the red block to the right arm and set it down.",
193
+ "Pick up the red block and switch arms.",
194
+ "Grab the red block with the left arm.",
195
+ "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad.",
196
+ "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
197
+ "Use the left arm to pick up the red block.",
198
+ "Grab the red block using the left arm.",
199
+ "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
200
+ "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
201
+ "Grab the red block with the left arm.",
202
+ "Pass the red block to the right arm and set it down.",
203
+ "Pick up the red block and switch arms.",
204
+ "Grab the red block with the left arm."
205
+ ]
206
+ }
handover_block/arx-x5_clean_50/seed.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 0 1 2 3 4 5 6 7 8 10 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 47 48 49 50 52 53
handover_block/arx-x5_randomized_500/seed.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 0 3 4 5 7 10 11 13 14 15 16 17 18 19 21 22 25 26 27 30 31 33 34 36 38 39 40 41 44 45 46 50 51 52 53 54 56 57 60 61 64 65 67 71 72 73 74 76 77 78 80 81 82 84 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 104 106 107 108 110 111 113 115 116 117 118 119 121 122 123 124 126 128 129 130 131 132 133 135 136 137 139 140 141 143 144 147 148 151 153 154 155 156 157 160 161 163 164 165 166 167 169 170 172 173 174 177 178 182 183 186 187 189 193 194 195 197 198 200 201 202 203 205 206 207 209 213 214 215 216 217 218 219 221 222 223 224 225 226 227 230 232 234 235 236 240 241 243 245 246 247 248 249 251 253 254 256 258 259 260 261 263 264 265 266 267 270 271 272 273 274 275 276 278 279 280 282 283 284 285 286 288 290 291 299 300 301 302 303 306 307 309 310 311 313 314 316 317 320 321 323 325 326 328 330 333 334 335 336 337 338 339 340 341 342 343 344 345 346 350 351 353 354 355 356 357 358 359 360 361 362 363 364 365 367 369 370 371 372 373 375 378 379 382 383 384 386 387 389 391 393 394 395 396 397 399 400 404 405 406 407 408 409 412 413 414 417 418 419 420 421 422 423 424 425 426 427 428 429 433 434 436 437 438 439 441 442 443 444 445 446 447 448 450 452 453 456 457 458 459 460 461 463 464 465 466 468 469 470 471 472 473 477 478 479 480 481 482 483 484 485 487 489 490 492 493 494 498 500 501 502 503 508 509 510 511 512 513 515 516 517 519 520 521 522 525 526 527 529 530 531 532 533 535 536 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 556 557 558 559 561 563 565 566 567 568 569 570 571 572 574 575 577 578 579 581 584 586 587 590 592 594 595 596 597 598 599 601 603 605 606 607 608 610 611 612 613 614 615 617 618 619 620 621 622 623 624 627 628 630 631 632 633 634 636 637 638 639 640 641 642 644 645 647 648 649 651 655 656 657 658 659 661 662 664 665 666 667 668 669 672 673 675 676 677 678 679 680 681 683 685 686 687 688 690 691 692 693 695 696 698 700 701 702 703 704 705 706 708
handover_block/piper_clean_50/seed.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 5 8 12 27 31 36 38 39 41 43 47 53 55 60 65 66 68 70 71 72 86 95 99 102 107 108 113 126 137 140 145 147 162 165 168 170 172 176 177 178 181 182 187 188 192 193 202 205 207 208
handover_block/piper_randomized_500/seed.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ 0 3 7 10 18 19 20 25 29 33 36 38 42 44 45 46 50 52 54 55 63 65 67 69 81 83 84 87 96 99 101 108 112 118 122 126 139 147 163 169 170 174 176 177 181 182 185 186 187 189 191 192 193 199 200 206 207 210 212 213 214 219 222 226 231 237 242 251 253 255 256 258 259 261 265 270 273 279 282 287 291 303 306 309 314 316 317 320 321 330 337 339 341 342 343 348 356 357 361 363 364 369 370 371 377 396 399 405 409 413 414 419 422 423 427 428 434 436 437 443 444 445 458 461 463 470 475 477 480 494 505 511 522 523 529 532 533 538 541 545 548 552 562 564 568 569 577 578 581 583 585 586 590 597 600 604 608 610 611 612 613 615 616 619 623 628 631 632 636 644 645 647 648 656 662 666 669 672 673 676 677 678 679 680 685 687 696 702 705 707 717 723 726 727 731 739 741 749 751 755 760 761 762 763 768 775 778 779 780 788 789 795 796 797 808 810 815 816 818 820 830 834 836 838 840 842 843 847 852 855 858 862 868 869 873 874 895 898 899 902 903 904 907 915 916 927 930 942 951 958 959 969 981 982 985 989 991 993 996 1009 1016 1021 1022 1026 1030 1033 1038 1045 1046 1049 1052 1055 1057 1058 1060 1064 1079 1091 1093 1096 1097 1102 1105 1107 1109 1110 1112 1116 1132 1133 1143 1144 1146 1148 1150 1156 1157 1161 1163 1165 1166 1170 1175 1176 1184 1185 1186 1187 1188 1190 1191 1192 1196 1200 1202 1203 1206 1207 1209 1210 1213 1214 1215 1223 1224 1226 1229 1234 1235 1237 1239 1241 1242 1248 1254 1257 1265 1271 1272 1274 1277 1280 1283 1284 1286 1287 1296 1299 1300 1301 1303 1305 1309 1310 1312 1313 1316 1317 1326 1328 1329 1332 1334 1342 1344 1352 1353 1359 1361 1362 1365 1366 1369 1371 1375 1376 1387 1393 1396 1399 1400 1401 1404 1407 1410 1413 1414 1415 1416 1419 1421 1423 1427 1429 1434 1435 1436 1450 1453 1456 1473 1474 1476 1484 1490 1493 1496 1498 1503 1504 1505 1507 1509 1524 1527 1538 1544 1550 1554 1556 1558 1562 1563 1568 1569 1572 1577 1579 1584 1591 1592 1593 1595 1596 1598 1602 1609 1610 1615 1630 1632 1633 1640 1642 1643 1645 1647 1648 1652 1654 1657 1658 1663 1674 1679 1682 1684 1685 1686 1689 1693 1694 1695 1699 1705 1707 1712 1713 1734 1735 1741 1746 1758 1773 1776 1777 1780 1781 1782 1785 1792 1800 1805 1810 1820 1824 1825 1831 1835 1839 1842 1843 1844 1845 1846 1848 1852 1858 1861 1872
move_playingcard_away/arx-x5_randomized_500/instructions/episode231.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Take the playingcards pack with blue top and move it away from the table.",
4
+ "Using the left arm, lift the playingcards box with white symbols and move it outward.",
5
+ "Move the smooth playingcards holder further outward after picking it up.",
6
+ "Grab the playingcards pack with blue top and set it beyond the table.",
7
+ "Slide the box of playingcards off the table outward.",
8
+ "Use the left arm to pick the card box with golden designs and shift it outward.",
9
+ "Use the left arm to pick up the blue and white playingcards packaging and move it.",
10
+ "With the left arm, pick up the blue playingcards box and slide it outward.",
11
+ "Lift the box of playingcards and slide it off the table.",
12
+ "Place the rectangular blue playingcards case away from the table outward.",
13
+ "Use the left arm to grab the playingcards box with white symbols and move it aside.",
14
+ "Take the blue carton for playingcards and place it further outward.",
15
+ "Grab the rectangular blue playingcards case and take it away from the table.",
16
+ "Pick the blue playingcards box and move it outward from the table.",
17
+ "Relocate the palm-sized playingcards carton farther outward using the left arm.",
18
+ "Pick up the blue carton for playingcards and move it away.",
19
+ "Pick up the blue pack holding playingcards with the left arm and place it outward.",
20
+ "Grab the blue playingcards box from the table and shift it outward.",
21
+ "Use the left arm to pick the blue playingcards box and move it outward.",
22
+ "Lift the playingcards box with white symbols and set it away from the table.",
23
+ "Lift the blue playingcards box and relocate it off the table.",
24
+ "Pick the smooth playingcards holder and slide it further outward.",
25
+ "Grab the palm-sized playingcards carton and move it further outward.",
26
+ "Lift the blue pack holding playingcards and shift it outward.",
27
+ "Pick the small playingcards container from the table and shift it outward.",
28
+ "Move the small playingcards container off the table outward.",
29
+ "Grab the box of playingcards with the left arm and move it outward.",
30
+ "Move the playingcards pack with blue top outward from the table.",
31
+ "Lift the blue pack holding playingcards and push it off the table.",
32
+ "Shift the small playingcards container outward by grabbing it with the left arm.",
33
+ "Grab the blue carton for playingcards using the left arm and move it outward.",
34
+ "Grab the card box with golden designs using the left arm and push it outward.",
35
+ "Pick up the playingcards pack with blue top and place it further away.",
36
+ "Lift the small playingcards container from the table and move it outward.",
37
+ "Shift the blue pack holding playingcards off the table to the side.",
38
+ "Take the blue pack holding playingcards and push it further away.",
39
+ "Grab the playingcards pack with blue top and shift it farther away from the table.",
40
+ "Pick up the blue carton for playingcards and move it farther outward.",
41
+ "Lift the playingcards pack with blue top using the left arm and transfer it outward.",
42
+ "Lift the blue carton for playingcards and place it farther away with the left arm.",
43
+ "Move the blue playingcards box away from its position on the table.",
44
+ "Use the left arm to pick up the blue pack holding playingcards and push it outward.",
45
+ "Shift the blue carton for playingcards outward after grabbing it.",
46
+ "Grab the palm-sized playingcards carton and move it further away.",
47
+ "Take the blue pack holding playingcards and place it beyond the table.",
48
+ "Move the smooth playingcards holder farther from the table using the left arm.",
49
+ "Pick up the rectangular blue playingcards case using the left arm and shift it outward.",
50
+ "Use the left arm to grab the blue playingcards box and move it away.",
51
+ "Pick up the blue playingcards box and shift it further outward.",
52
+ "Lift the blue playingcards box with the left arm and move it outward.",
53
+ "Take the palm-sized playingcards carton and move it away from the table.",
54
+ "Using the left arm, lift the blue carton for playingcards and move it outward.",
55
+ "Move the blue and white playingcards packaging further outward after picking it up.",
56
+ "Grab the blue playingcards box and set it beyond the table.",
57
+ "Slide the blue pack holding playingcards off the table outward.",
58
+ "Use the left arm to pick the blue and white playingcards packaging and shift it outward.",
59
+ "Use the left arm to pick up the blue playingcards box and move it.",
60
+ "With the left arm, pick up the smooth playingcards holder and slide it outward.",
61
+ "Lift the smooth playingcards holder and slide it off the table.",
62
+ "Place the card box with golden designs away from the table outward.",
63
+ "Use the left arm to grab the blue playingcards box and move it aside.",
64
+ "Take the playingcards box with white symbols and place it further outward.",
65
+ "Grab the rectangular blue playingcards case and take it away from the table.",
66
+ "Pick the box of playingcards and move it outward from the table.",
67
+ "Relocate the smooth playingcards holder farther outward using the left arm.",
68
+ "Pick up the blue pack holding playingcards and move it away.",
69
+ "Pick up the blue pack holding playingcards with the left arm and place it outward.",
70
+ "Grab the blue pack holding playingcards from the table and shift it outward.",
71
+ "Use the left arm to pick the smooth playingcards holder and move it outward.",
72
+ "Lift the blue pack holding playingcards and set it away from the table.",
73
+ "Lift the box of playingcards and relocate it off the table.",
74
+ "Pick the smooth playingcards holder and slide it further outward.",
75
+ "Grab the blue pack holding playingcards and move it further outward.",
76
+ "Lift the blue playingcards box and shift it outward.",
77
+ "Pick the playingcards pack with blue top from the table and shift it outward.",
78
+ "Move the blue carton for playingcards off the table outward.",
79
+ "Grab the playingcards pack with blue top with the left arm and move it outward.",
80
+ "Move the box of playingcards outward from the table.",
81
+ "Lift the playingcards pack with blue top and push it off the table.",
82
+ "Shift the card box with golden designs outward by grabbing it with the left arm.",
83
+ "Grab the blue pack holding playingcards using the left arm and move it outward.",
84
+ "Grab the playingcards box with white symbols using the left arm and push it outward.",
85
+ "Pick up the playingcards pack with blue top and place it further away.",
86
+ "Lift the playingcards pack with blue top from the table and move it outward.",
87
+ "Shift the playingcards pack with blue top off the table to the side.",
88
+ "Take the smooth playingcards holder and push it further away.",
89
+ "Grab the card box with golden designs and shift it farther away from the table.",
90
+ "Pick up the blue playingcards box and move it farther outward.",
91
+ "Lift the rectangular blue playingcards case using the left arm and transfer it outward.",
92
+ "Lift the blue carton for playingcards and place it farther away with the left arm.",
93
+ "Move the playingcards box with white symbols away from its position on the table.",
94
+ "Use the left arm to pick up the card box with golden designs and push it outward.",
95
+ "Shift the blue playingcards box outward after grabbing it.",
96
+ "Grab the blue and white playingcards packaging and move it further away.",
97
+ "Take the palm-sized playingcards carton and place it beyond the table.",
98
+ "Move the smooth playingcards holder farther from the table using the left arm.",
99
+ "Pick up the blue carton for playingcards using the left arm and shift it outward.",
100
+ "Use the left arm to grab the blue carton for playingcards and move it away.",
101
+ "Pick up the smooth playingcards holder and shift it further outward.",
102
+ "Lift the playingcards pack with blue top with the left arm and move it outward."
103
+ ],
104
+ "unseen": [
105
+ "Grab the rectangular playingcards case with patterns and move it outward.",
106
+ "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
107
+ "Pick up the small packet of playingcards and move it outward.",
108
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
109
+ "Pick up the rectangular playingcards case with patterns and shift it outward.",
110
+ "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
111
+ "Lift the rectangular playingcards pack from the table and shift it.",
112
+ "Grab the rectangular playingcards case with patterns and move it off the table.",
113
+ "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
114
+ "Pick up the rectangular playingcards pack and move it outward.",
115
+ "Grab the rectangular playingcards pack and move it outward.",
116
+ "Use the left arm to grab the small packet of playingcards and relocate it.",
117
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
118
+ "Pick up the small packet of playingcards and move it outward.",
119
+ "Pick up the rectangular playingcards case with patterns and shift it outward.",
120
+ "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
121
+ "Lift the small packet of playingcards from the table and shift it.",
122
+ "Grab the small packet of playingcards and move it off the table.",
123
+ "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
124
+ "Pick up the small packet of playingcards and move it outward.",
125
+ "Grab the small packet of playingcards and move it outward.",
126
+ "Use the left arm to grab the small packet of playingcards and relocate it.",
127
+ "Pick up the small packet of playingcards and move it outward.",
128
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
129
+ "Pick up the small packet of playingcards and shift it outward.",
130
+ "Use the left arm to grab the small packet of playingcards and move it outward.",
131
+ "Lift the rectangular playingcards case with patterns from the table and shift it.",
132
+ "Grab the small packet of playingcards and move it off the table.",
133
+ "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
134
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
135
+ "Grab the small packet of playingcards and move it outward.",
136
+ "Use the left arm to grab the small packet of playingcards and relocate it.",
137
+ "Pick up the rectangular playingcards pack and move it outward.",
138
+ "Pick up the small packet of playingcards and move it outward.",
139
+ "Pick up the small packet of playingcards and shift it outward.",
140
+ "Use the left arm to grab the rectangular playingcards pack and move it outward.",
141
+ "Lift the rectangular playingcards case with patterns from the table and shift it.",
142
+ "Grab the small packet of playingcards and move it off the table.",
143
+ "Use the left arm to grab the rectangular playingcards pack and relocate it.",
144
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
145
+ "Grab the rectangular playingcards pack and move it outward.",
146
+ "Use the left arm to grab the small packet of playingcards and relocate it.",
147
+ "Pick up the small packet of playingcards and move it outward.",
148
+ "Pick up the rectangular playingcards pack and move it outward.",
149
+ "Pick up the rectangular playingcards case with patterns and shift it outward.",
150
+ "Use the left arm to grab the small packet of playingcards and move it outward.",
151
+ "Lift the rectangular playingcards pack from the table and shift it.",
152
+ "Grab the rectangular playingcards case with patterns and move it off the table.",
153
+ "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
154
+ "Pick up the rectangular playingcards pack and move it outward.",
155
+ "Grab the rectangular playingcards case with patterns and move it outward.",
156
+ "Use the left arm to grab the rectangular playingcards pack and relocate it.",
157
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
158
+ "Pick up the rectangular playingcards pack and move it outward.",
159
+ "Pick up the rectangular playingcards pack and shift it outward.",
160
+ "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
161
+ "Lift the small packet of playingcards from the table and shift it.",
162
+ "Grab the rectangular playingcards pack and move it off the table.",
163
+ "Use the left arm to grab the rectangular playingcards pack and relocate it.",
164
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
165
+ "Grab the small packet of playingcards and move it outward.",
166
+ "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
167
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
168
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
169
+ "Pick up the small packet of playingcards and shift it outward.",
170
+ "Use the left arm to grab the small packet of playingcards and move it outward.",
171
+ "Lift the rectangular playingcards pack from the table and shift it.",
172
+ "Grab the small packet of playingcards and move it off the table.",
173
+ "Use the left arm to grab the rectangular playingcards pack and relocate it.",
174
+ "Pick up the rectangular playingcards pack and move it outward.",
175
+ "Grab the rectangular playingcards case with patterns and move it outward.",
176
+ "Use the left arm to grab the small packet of playingcards and relocate it.",
177
+ "Pick up the rectangular playingcards pack and move it outward.",
178
+ "Pick up the small packet of playingcards and move it outward.",
179
+ "Pick up the small packet of playingcards and shift it outward.",
180
+ "Use the left arm to grab the rectangular playingcards pack and move it outward.",
181
+ "Lift the small packet of playingcards from the table and shift it.",
182
+ "Grab the rectangular playingcards pack and move it off the table.",
183
+ "Use the left arm to grab the rectangular playingcards pack and relocate it.",
184
+ "Pick up the rectangular playingcards pack and move it outward.",
185
+ "Grab the rectangular playingcards case with patterns and move it outward.",
186
+ "Use the left arm to grab the rectangular playingcards pack and relocate it.",
187
+ "Pick up the rectangular playingcards pack and move it outward.",
188
+ "Pick up the rectangular playingcards pack and move it outward.",
189
+ "Pick up the rectangular playingcards case with patterns and shift it outward.",
190
+ "Use the left arm to grab the rectangular playingcards pack and move it outward.",
191
+ "Lift the rectangular playingcards pack from the table and shift it.",
192
+ "Grab the rectangular playingcards pack and move it off the table.",
193
+ "Use the left arm to grab the rectangular playingcards pack and relocate it.",
194
+ "Pick up the small packet of playingcards and move it outward.",
195
+ "Grab the rectangular playingcards case with patterns and move it outward.",
196
+ "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
197
+ "Pick up the small packet of playingcards and move it outward.",
198
+ "Pick up the rectangular playingcards case with patterns and move it outward.",
199
+ "Pick up the small packet of playingcards and shift it outward.",
200
+ "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
201
+ "Lift the rectangular playingcards pack from the table and shift it.",
202
+ "Grab the rectangular playingcards case with patterns and move it off the table.",
203
+ "Use the left arm to grab the small packet of playingcards and relocate it.",
204
+ "Pick up the small packet of playingcards and move it outward."
205
+ ]
206
+ }
move_playingcard_away/arx-x5_randomized_500/instructions/episode247.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seen": [
3
+ "Use the right arm to pick up the box with cards inside and push it outward.",
4
+ "Move the black playing cards box outward from the table.",
5
+ "Use the right arm to pick the cardboard playing cards box and move it outward.",
6
+ "Lift the cardboard playing cards box and push it off the table.",
7
+ "Slide the cardboard playing cards box off the table outward.",
8
+ "Grab the cardboard playing cards box and shift it farther away from the table.",
9
+ "Pick the rectangular box for card storage and move it outward from the table.",
10
+ "Use the right arm to pick up the palm-sized box for playing cards and move it.",
11
+ "Pick up the black playing cards box with the right arm and place it outward.",
12
+ "Pick up the rectangle-shaped cards box and place it further away.",
13
+ "Lift the smooth black cards container with the right arm and move it outward.",
14
+ "Grab the box with cards inside and move it further away.",
15
+ "Move the small black box with cards further outward after picking it up.",
16
+ "Take the compact box for playing cards and place it further outward.",
17
+ "Lift the playing cards box with gold text and relocate it off the table.",
18
+ "Grab the smooth black cards container with the right arm and move it outward.",
19
+ "Grab the box holding playing cards using the right arm and push it outward.",
20
+ "Pick up the small black box with cards using the right arm and shift it outward.",
21
+ "Take the palm-sized box for playing cards and place it beyond the table.",
22
+ "Pick up the smooth black cards container and move it farther outward.",
23
+ "Take the box holding playing cards and move it away from the table.",
24
+ "Lift the compact box for playing cards using the right arm and transfer it outward.",
25
+ "Grab the palm-sized box for playing cards and move it further outward.",
26
+ "With the right arm, pick up the black playing cards box and slide it outward.",
27
+ "Using the right arm, lift the compact box for playing cards and move it outward.",
28
+ "Use the right arm to grab the box holding playing cards and move it aside.",
29
+ "Lift the box holding playing cards and set it away from the table.",
30
+ "Pick up the rectangle-shaped cards box and shift it further outward.",
31
+ "Lift the playing cards box with gold text and shift it outward.",
32
+ "Shift the cardboard playing cards box off the table to the side.",
33
+ "Grab the smooth black cards container and set it beyond the table.",
34
+ "Relocate the cardboard playing cards box farther outward using the right arm.",
35
+ "Move the playing cards box with gold text farther from the table using the right arm.",
36
+ "Shift the compact box for playing cards outward by grabbing it with the right arm.",
37
+ "Lift the box holding playing cards from the table and move it outward.",
38
+ "Grab the box holding playing cards and take it away from the table.",
39
+ "Take the compact box for playing cards and push it further away.",
40
+ "Move the box holding playing cards off the table outward.",
41
+ "Pick up the box with cards inside and move it away.",
42
+ "Move the small black box with cards away from its position on the table.",
43
+ "Pick the box holding playing cards and slide it further outward.",
44
+ "Use the right arm to grab the box with cards inside and move it away.",
45
+ "Use the right arm to pick the black box with rectangular shape and shift it outward.",
46
+ "Lift the box with cards inside and place it farther away with the right arm.",
47
+ "Grab the box holding playing cards using the right arm and move it outward.",
48
+ "Shift the small black box with cards outward after grabbing it.",
49
+ "Pick the small black box with cards from the table and shift it outward.",
50
+ "Lift the playing cards box with gold text and slide it off the table.",
51
+ "Place the black box with rectangular shape away from the table outward.",
52
+ "Grab the black playing cards box from the table and shift it outward.",
53
+ "Use the right arm to pick up the box holding playing cards and push it outward.",
54
+ "Move the black playing cards box outward from the table.",
55
+ "Use the right arm to pick the small black box with cards and move it outward.",
56
+ "Lift the box holding playing cards and push it off the table.",
57
+ "Slide the box holding playing cards off the table outward.",
58
+ "Grab the smooth black cards container and shift it farther away from the table.",
59
+ "Pick the box holding playing cards and move it outward from the table.",
60
+ "Use the right arm to pick up the black box with rectangular shape and move it.",
61
+ "Pick up the compact box for playing cards with the right arm and place it outward.",
62
+ "Pick up the compact box for playing cards and place it further away.",
63
+ "Lift the cardboard playing cards box with the right arm and move it outward.",
64
+ "Grab the smooth black cards container and move it further away.",
65
+ "Move the black playing cards box further outward after picking it up.",
66
+ "Take the compact box for playing cards and place it further outward.",
67
+ "Lift the smooth black cards container and relocate it off the table.",
68
+ "Grab the rectangular box for card storage with the right arm and move it outward.",
69
+ "Grab the compact box for playing cards using the right arm and push it outward.",
70
+ "Pick up the black playing cards box using the right arm and shift it outward.",
71
+ "Take the small black box with cards and place it beyond the table.",
72
+ "Pick up the rectangular box for card storage and move it farther outward.",
73
+ "Take the cardboard playing cards box and move it away from the table.",
74
+ "Lift the playing cards box with gold text using the right arm and transfer it outward.",
75
+ "Grab the palm-sized box for playing cards and move it further outward.",
76
+ "With the right arm, pick up the playing cards box with gold text and slide it outward.",
77
+ "Using the right arm, lift the black box with rectangular shape and move it outward.",
78
+ "Use the right arm to grab the box holding playing cards and move it aside.",
79
+ "Lift the playing cards box with gold text and set it away from the table.",
80
+ "Pick up the black box with rectangular shape and shift it further outward.",
81
+ "Lift the rectangle-shaped cards box and shift it outward.",
82
+ "Shift the box with cards inside off the table to the side.",
83
+ "Grab the rectangular box for card storage and set it beyond the table.",
84
+ "Relocate the small black box with cards farther outward using the right arm.",
85
+ "Move the rectangular box for card storage farther from the table using the right arm.",
86
+ "Shift the small black box with cards outward by grabbing it with the right arm.",
87
+ "Lift the box with cards inside from the table and move it outward.",
88
+ "Grab the rectangle-shaped cards box and take it away from the table.",
89
+ "Take the playing cards box with gold text and push it further away.",
90
+ "Move the black playing cards box off the table outward.",
91
+ "Pick up the compact box for playing cards and move it away.",
92
+ "Move the cardboard playing cards box away from its position on the table.",
93
+ "Pick the cardboard playing cards box and slide it further outward.",
94
+ "Use the right arm to grab the black box with rectangular shape and move it away.",
95
+ "Use the right arm to pick the box holding playing cards and shift it outward.",
96
+ "Lift the black playing cards box and place it farther away with the right arm.",
97
+ "Grab the small black box with cards using the right arm and move it outward.",
98
+ "Shift the palm-sized box for playing cards outward after grabbing it.",
99
+ "Pick the smooth black cards container from the table and shift it outward.",
100
+ "Lift the black box with rectangular shape and slide it off the table.",
101
+ "Place the rectangular box for card storage away from the table outward.",
102
+ "Grab the cardboard playing cards box from the table and shift it outward."
103
+ ],
104
+ "unseen": [
105
+ "Grab the black box with smooth surface and move it outward.",
106
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
107
+ "Lift the gold text on playing cards box from the table and shift it.",
108
+ "Grab the gold text on playing cards box and move it off the table.",
109
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
110
+ "Pick up the hard black box for card deck and shift it outward.",
111
+ "Use the right arm to grab the hard black box for card deck and move it outward.",
112
+ "Pick up the gold text on playing cards box and move it outward.",
113
+ "Pick up the black box with smooth surface and move it outward.",
114
+ "Pick up the black box with smooth surface and move it outward.",
115
+ "Grab the hard black box for card deck and move it outward.",
116
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
117
+ "Lift the black box with smooth surface from the table and shift it.",
118
+ "Grab the black box with smooth surface and move it off the table.",
119
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
120
+ "Pick up the black box with smooth surface and shift it outward.",
121
+ "Use the right arm to grab the black box with smooth surface and move it outward.",
122
+ "Pick up the gold text on playing cards box and move it outward.",
123
+ "Pick up the black box with smooth surface and move it outward.",
124
+ "Pick up the black box with smooth surface and move it outward.",
125
+ "Grab the hard black box for card deck and move it outward.",
126
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
127
+ "Lift the gold text on playing cards box from the table and shift it.",
128
+ "Grab the gold text on playing cards box and move it off the table.",
129
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
130
+ "Pick up the hard black box for card deck and shift it outward.",
131
+ "Use the right arm to grab the gold text on playing cards box and move it outward.",
132
+ "Pick up the gold text on playing cards box and move it outward.",
133
+ "Pick up the black box with smooth surface and move it outward.",
134
+ "Pick up the gold text on playing cards box and move it outward.",
135
+ "Grab the black box with smooth surface and move it outward.",
136
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
137
+ "Lift the black box with smooth surface from the table and shift it.",
138
+ "Grab the hard black box for card deck and move it off the table.",
139
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
140
+ "Pick up the gold text on playing cards box and shift it outward.",
141
+ "Use the right arm to grab the black box with smooth surface and move it outward.",
142
+ "Pick up the hard black box for card deck and move it outward.",
143
+ "Pick up the black box with smooth surface and move it outward.",
144
+ "Pick up the hard black box for card deck and move it outward.",
145
+ "Grab the gold text on playing cards box and move it outward.",
146
+ "Use the right arm to grab the black box with smooth surface and relocate it.",
147
+ "Lift the gold text on playing cards box from the table and shift it.",
148
+ "Grab the hard black box for card deck and move it off the table.",
149
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
150
+ "Pick up the hard black box for card deck and shift it outward.",
151
+ "Use the right arm to grab the gold text on playing cards box and move it outward.",
152
+ "Pick up the black box with smooth surface and move it outward.",
153
+ "Pick up the black box with smooth surface and move it outward.",
154
+ "Pick up the hard black box for card deck and move it outward.",
155
+ "Grab the gold text on playing cards box and move it outward.",
156
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
157
+ "Lift the black box with smooth surface from the table and shift it.",
158
+ "Grab the gold text on playing cards box and move it off the table.",
159
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
160
+ "Pick up the hard black box for card deck and shift it outward.",
161
+ "Use the right arm to grab the hard black box for card deck and move it outward.",
162
+ "Pick up the hard black box for card deck and move it outward.",
163
+ "Pick up the hard black box for card deck and move it outward.",
164
+ "Pick up the black box with smooth surface and move it outward.",
165
+ "Grab the hard black box for card deck and move it outward.",
166
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
167
+ "Lift the gold text on playing cards box from the table and shift it.",
168
+ "Grab the gold text on playing cards box and move it off the table.",
169
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
170
+ "Pick up the gold text on playing cards box and shift it outward.",
171
+ "Use the right arm to grab the gold text on playing cards box and move it outward.",
172
+ "Pick up the black box with smooth surface and move it outward.",
173
+ "Pick up the hard black box for card deck and move it outward.",
174
+ "Pick up the gold text on playing cards box and move it outward.",
175
+ "Grab the hard black box for card deck and move it outward.",
176
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
177
+ "Lift the hard black box for card deck from the table and shift it.",
178
+ "Grab the gold text on playing cards box and move it off the table.",
179
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
180
+ "Pick up the hard black box for card deck and shift it outward.",
181
+ "Use the right arm to grab the gold text on playing cards box and move it outward.",
182
+ "Pick up the black box with smooth surface and move it outward.",
183
+ "Pick up the black box with smooth surface and move it outward.",
184
+ "Pick up the gold text on playing cards box and move it outward.",
185
+ "Grab the gold text on playing cards box and move it outward.",
186
+ "Use the right arm to grab the black box with smooth surface and relocate it.",
187
+ "Lift the black box with smooth surface from the table and shift it.",
188
+ "Grab the hard black box for card deck and move it off the table.",
189
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
190
+ "Pick up the gold text on playing cards box and shift it outward.",
191
+ "Use the right arm to grab the hard black box for card deck and move it outward.",
192
+ "Pick up the hard black box for card deck and move it outward.",
193
+ "Pick up the hard black box for card deck and move it outward.",
194
+ "Pick up the hard black box for card deck and move it outward.",
195
+ "Grab the gold text on playing cards box and move it outward.",
196
+ "Use the right arm to grab the gold text on playing cards box and relocate it.",
197
+ "Lift the black box with smooth surface from the table and shift it.",
198
+ "Grab the hard black box for card deck and move it off the table.",
199
+ "Use the right arm to grab the hard black box for card deck and relocate it.",
200
+ "Pick up the hard black box for card deck and shift it outward.",
201
+ "Use the right arm to grab the black box with smooth surface and move it outward.",
202
+ "Pick up the hard black box for card deck and move it outward.",
203
+ "Pick up the black box with smooth surface and move it outward.",
204
+ "Pick up the gold text on playing cards box and move it outward."
205
+ ]
206
+ }