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+size 7061148 diff --git a/stack_blocks_two/franka_clean/instructions/episode0.json b/stack_blocks_two/franka_clean/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..df887b392e0a078da3e0b8c07ccd15eb614cd9ad --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block together at the center, then stack green block on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the right arm to move red block and the right arm to stack green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Set red block in the center, then position green block on top of it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the right arm to move red block and the right arm to stack green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Set red block in the center, then position green block on top of it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Bring red block to the center, then stack green block over it." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode1.json b/stack_blocks_two/franka_clean/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..2511c91bfc688d6f7205a2ecb5b7cba3bb2b154d --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode10.json b/stack_blocks_two/franka_clean/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..a521f64ab7a9f7337ebc7e511d32ea70d08e0981 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to move red block and the left arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block at the center and stack green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to move red block and the left arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block at the center and stack green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block." + ], + "unseen": [ + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode11.json b/stack_blocks_two/franka_clean/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..f6e86a522ac12dec110a941202b9530f08101a3a --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to stack green block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to stack green block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode12.json b/stack_blocks_two/franka_clean/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..60ddca7e75a36a93f1b5f845085313bc49a782c5 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Position red block at the center and stack green block above it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Use the right arm to move red block and the right arm to stack green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Position red block at the center and stack green block above it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Use the right arm to move red block and the right arm to stack green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block." + ], + "unseen": [ + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode13.json b/stack_blocks_two/franka_clean/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..0028e290c91bc1f36469b96c65747ca14ab68219 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm to move red block and the right arm to stack green block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm to move red block and the right arm to stack green block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode14.json b/stack_blocks_two/franka_clean/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..35c7521ac501181d13761ef9845e017d5301b2fa --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Position red block at the center and stack green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Put red block in the center, then add green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Position red block at the center and stack green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Put red block in the center, then add green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Position red block at the center and stack green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode15.json b/stack_blocks_two/franka_clean/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..39cad39d16e2fb65b72ed7f87ab19b8ad0750952 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center, then stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center, then stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block." + ], + "unseen": [ + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode16.json b/stack_blocks_two/franka_clean/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..1bcbf404ebfaab1bcba35514c58031e0de175e56 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode17.json b/stack_blocks_two/franka_clean/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..21bbe71c4709d4683e58580c6f55a20c7c38f155 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode18.json b/stack_blocks_two/franka_clean/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..1f2eba56496298006d3e6f2d4df6263a438bfbbc --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block to the center and place green block on top.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block at the center and stack green block above it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block to the center and place green block on top.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block at the center and stack green block above it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it." + ], + "unseen": [ + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode19.json b/stack_blocks_two/franka_clean/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..1355b24b7aa309cce4458afa1416454a41f6dd7d --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block to the middle and place green block on it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block to the middle and place green block on it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode2.json b/stack_blocks_two/franka_clean/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..0087d4c18c717671c004438884affdba132f683b --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it." + ], + "unseen": [ + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode20.json b/stack_blocks_two/franka_clean/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d9280621da7da477ce71d394cca1d8397f8b14 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode21.json b/stack_blocks_two/franka_clean/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..d2b2a1a5f9e4d67978988ecc29fbabe08b971de0 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode22.json b/stack_blocks_two/franka_clean/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..3c6fdc917661dfb9802ff1c13a2cafc0b94cb1b8 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Use the left arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Position red block at the center and stack green block above it.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Use the left arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Position red block at the center and stack green block above it.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block." + ], + "unseen": [ + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode23.json b/stack_blocks_two/franka_clean/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..f40ecddd80da7026ebd94292efa0ec0505aa446b --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the middle and put green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to stack green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to position green block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the middle and put green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to stack green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to position green block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode24.json b/stack_blocks_two/franka_clean/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..5a004fa01c2f629fe40973674cf5b8a99a9a63e6 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode25.json b/stack_blocks_two/franka_clean/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..af07b1678f6d9d862c7b1507c21461c240a9ac33 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode26.json b/stack_blocks_two/franka_clean/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..f89654e2245ec172a024df061bdcc31dd2786c83 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode27.json b/stack_blocks_two/franka_clean/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..f6e0992d377d45772364722342633f1ec2845c96 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Put red block in the center, then add green block above it." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode28.json b/stack_blocks_two/franka_clean/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..e695bbffc97f31c94317707721d0424a2ef35023 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode29.json b/stack_blocks_two/franka_clean/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..da8db424774de3d2d0007656cf209d55195304e7 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block and the right arm to stack green block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block and the right arm to stack green block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block." + ], + "unseen": [ + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode3.json b/stack_blocks_two/franka_clean/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..1a42ddf93109f2b693d6e0ee46f31d51f1f12c5e --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block." + ], + "unseen": [ + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode30.json b/stack_blocks_two/franka_clean/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..f63e55c96f358e66ce0689a795fe80fe52a1009a --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Put red block in the center, then add green block above it.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Put red block in the center, then add green block above it.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode31.json b/stack_blocks_two/franka_clean/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..c7679abb4049ed2228a7e000b290ee5b9ad8ab51 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Bring red block to the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Bring red block to the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode32.json b/stack_blocks_two/franka_clean/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ddc0712396bf1d7d4371b1b12ba260b17faee3 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Position red block at the center and stack green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Position red block at the center and stack green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode33.json b/stack_blocks_two/franka_clean/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..f7c0fbdf65efbde77029b8187f8ba385343369e9 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode34.json b/stack_blocks_two/franka_clean/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..01875b4537c1da7d84c337f20a93a5ed0cf32250 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode35.json b/stack_blocks_two/franka_clean/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..c8aa1cb73c21a5b6304a65b2fa6976991ca1af57 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block at the center and stack green block above it.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Put red block in the center, then add green block above it.", + "Bring red block to the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Put red block in the center, then add green block above it.", + "Bring red block to the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Put red block in the center, then add green block above it.", + "Bring red block to the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to stack green block." + ], + "unseen": [ + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode36.json b/stack_blocks_two/franka_clean/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..1618225968f199ea00ddd457dc9b1eace689e6dd --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block at the center and then put green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Put red block in the center, then add green block above it.", + "Relocate red block to the middle and place green block on it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Put red block in the center, then add green block above it.", + "Relocate red block to the middle and place green block on it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode37.json b/stack_blocks_two/franka_clean/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..885b48bbf451d847bd4b016f447c78e323a23960 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block to the center and place green block on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block to the center and place green block on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block." + ], + "unseen": [ + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode38.json b/stack_blocks_two/franka_clean/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..d75221a7bd8a9458fc7b8978db117bd3761fc04e --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "the right arm moves red block to the center, the left arm stacks green block onto red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode39.json b/stack_blocks_two/franka_clean/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..cc11953aff730072bee5043e9a2fb579953ccb02 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Put red block in the center, then add green block above it.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Put red block in the center, then add green block above it.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode4.json b/stack_blocks_two/franka_clean/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..44f3c475a08b34028dd09418f391a71f011c0bf5 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Put red block in the center, then add green block above it.", + "Use the right arm to move red block and the right arm to stack green block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Put red block in the center, then add green block above it.", + "Use the right arm to move red block and the right arm to stack green block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm." + ], + "unseen": [ + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode40.json b/stack_blocks_two/franka_clean/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..270a02144f5281409d271ae42dfafa5c8b4883a6 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block to the middle and place green block on it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block to the middle and place green block on it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode41.json b/stack_blocks_two/franka_clean/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..d0ac2298a2ad09fc18107e749daaebb7d902083e --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block.", + "Put red block in the center, then add green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block at the center and stack green block above it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block.", + "Put red block in the center, then add green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block at the center and stack green block above it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode42.json b/stack_blocks_two/franka_clean/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..845c2ddaa5cbde269489bd968fa3fe1815b218e3 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block to the center and place green block on top.", + "Put red block in the center, then add green block above it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block to the center and place green block on top.", + "Put red block in the center, then add green block above it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode43.json b/stack_blocks_two/franka_clean/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..67992876df198ac1d4b0d8d82323106631cfea1d --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block to the middle and put green block on top of it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block to the middle and put green block on top of it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block." + ], + "unseen": [ + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode44.json b/stack_blocks_two/franka_clean/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..229175a4ef3efcf45a2d684e354d04c88e39c2c8 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block centrally, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block centrally, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode45.json b/stack_blocks_two/franka_clean/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..d62183a00bd93344835337a965d034197129b302 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode46.json b/stack_blocks_two/franka_clean/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..609ba2735a747dc135260553a14461d22c3d9b47 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Bring red block to the center, then stack green block over it.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Position red block at the center and stack green block above it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Put red block in the center, then add green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Shift red block to the center and place green block on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Bring red block to the center, then stack green block over it.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Position red block at the center and stack green block above it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Put red block in the center, then add green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Shift red block to the center and place green block on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Center red block and green block on the table and stack green block on top of red block." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode47.json b/stack_blocks_two/franka_clean/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..78a68c35bfd6d4acd8e02a10f735ecacd2ca3e76 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm to move red block and the left arm to position green block.", + "Put red block in the center, then add green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm to move red block and the left arm to position green block.", + "Put red block in the center, then add green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode48.json b/stack_blocks_two/franka_clean/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..89a67dc7543455ebcfc872461d3637afeab34950 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to move red block and the left arm to stack green block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to move red block and the left arm to stack green block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it." + ], + "unseen": [ + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode49.json b/stack_blocks_two/franka_clean/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..26b1e3b9f9d1f6e266de805360352b857efca1ba --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode5.json b/stack_blocks_two/franka_clean/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..e499e3978edbe61e789bc78870c733964d96018b --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Position red block at the center and stack green block above it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Use the right arm to move red block and the left arm to stack green block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block and green block centrally, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Position red block at the center and stack green block above it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Use the right arm to move red block and the left arm to stack green block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block and green block centrally, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode6.json b/stack_blocks_two/franka_clean/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd6d6c27c7fc9a4158385fb1a1aad9a50a2429e --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block to the middle and put green block on top of it.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Place red block and green block at the center and then put green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Place red block and green block at the center and then put green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center." + ], + "unseen": [ + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode7.json b/stack_blocks_two/franka_clean/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..05241c43244f57f584b83dd53ce8e290327db317 --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block to the center and place green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block to the middle and put green block on top of it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block to the center and place green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block to the middle and put green block on top of it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode8.json b/stack_blocks_two/franka_clean/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..caee2e58ee55cd9078a5b76f2094672333f5f4cd --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block to the center and place green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Bring red block to the center, then stack green block over it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the center and stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block to the center and place green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Bring red block to the center, then stack green block over it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the center and stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/instructions/episode9.json b/stack_blocks_two/franka_clean/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..bb68fb684359afbdcf07afb5dbb4113f31b6998d --- /dev/null +++ b/stack_blocks_two/franka_clean/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Position red block at the center and stack green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Position red block at the center and stack green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/stack_blocks_two/franka_clean/scene_info.json b/stack_blocks_two/franka_clean/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..1df88ad3f2881ab71985d9d5d34403a6b7660b38 --- /dev/null +++ b/stack_blocks_two/franka_clean/scene_info.json @@ -0,0 +1,652 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_3": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_4": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "right" + } + }, + "episode_5": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_6": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_7": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_8": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_9": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_10": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "left" + } + }, + "episode_11": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_12": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "right" + } + }, + "episode_13": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_14": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_15": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_16": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_17": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_18": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_19": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "left" + } + }, + "episode_20": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_21": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_22": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "left" + } + }, + "episode_23": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_24": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_25": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_26": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_27": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_28": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "left" + } + }, + "episode_29": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "right" + } + }, + "episode_30": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_31": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_32": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_33": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "left" + } + }, + "episode_34": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_35": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_36": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_37": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_38": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_39": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_40": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_41": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_42": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { 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