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-{
-  "seen": [
-    "Pick up the wood roller using both arms.",
-    "Grab the light brown roller directly from the table.",
-    "Hold the roller with smooth and shiny texture with both arms to pick it up",
-    "Secure the roller with smooth and shiny texture using your arms.",
-    "Use both arms to grab the light brown roller.",
-    "Use arms to hold the roller with polished surface tightly.",
-    "Firmly grip the palm-length roller on the table now.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Lift the medium-sized roller off the table with arms.",
-    "Pick up the cylindrical roller with tapered ends using both arms equally",
-    "Grasp the roller with polished surface firmly with arms.",
-    "Both arms should grab the medium roller with narrower tips now.",
-    "Secure the wood roller with both arms.",
-    "Reach out to grab the medium roller with narrower tips from the table",
-    "Reach for the medium roller with narrower tips and hold it firmly",
-    "Grip the medium-sized roller firmly with arms.",
-    "Securely grab the roller for smoothing materials using both arms.",
-    "Take both arms to grasp the palm-length roller.",
-    "Take hold of the wooden rolling tool.",
-    "Lift the medium roller with narrower tips from its place on the table",
-    "Take hold of the roller with smooth and shiny texture with both arms.",
-    "Grasp the roller with smooth and shiny texture on the table.",
-    "Take hold of the roller for smoothing materials with arms.",
-    "Firmly grab the roller with polished surface using arms.",
-    "Place hands on the wood roller and lift.",
-    "Reach for the roller with smooth and shiny texture and grab it firmly.",
-    "Grasp the roller with smooth and shiny texture on the table with arms.",
-    "Hold the wooden rolling tool firmly from the table.",
-    "Lift the medium-sized roller from the table.",
-    "Pick up the roller with smooth and shiny texture from the table directly.",
-    "Bring both arms to grab the roller for smoothing materials.",
-    "Secure the medium-sized roller on the table using arms.",
-    "Lift the roller with smooth and shiny texture with your arms.",
-    "Pick up the light brown roller from the table.",
-    "Secure the wooden rolling tool from the table using arms",
-    "Lift the wooden rolling tool from the table carefully.",
-    "Use both arms to grip the wood roller tightly.",
-    "Take hold of the cylindrical roller with tapered ends using your arms.",
-    "Take the roller for smoothing materials directly from the table.",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Hold the palm-length roller on the table with hands.",
-    "Grasp the light brown wooden roller firmly from the table.",
-    "Get hold of the medium-sized roller using your arms",
-    "Lift the light brown roller off the table with both arms",
-    "Hold the medium roller with narrower tips from the table.",
-    "Pick up the medium-sized roller using both arms.",
-    "Grab the wood roller directly from the table.",
-    "Hold the light brown roller with both arms to pick it up",
-    "Secure the palm-length roller using your arms.",
-    "Use both arms to grab the light brown roller.",
-    "Use arms to hold the medium roller with narrower tips tightly.",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Use arms to firmly grab the solid wood roller.",
-    "Lift the light brown wooden roller off the table with arms.",
-    "Pick up the medium roller with narrower tips using both arms equally",
-    "Grasp the light brown roller firmly with arms.",
-    "Both arms should grab the palm-length roller now.",
-    "Secure the solid wood roller with both arms.",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Reach for the wood roller and hold it firmly",
-    "Grip the solid wood roller firmly with arms.",
-    "Securely grab the cylindrical roller with tapered ends using both arms.",
-    "Take both arms to grasp the palm-length roller.",
-    "Take hold of the light brown wooden roller.",
-    "Lift the wooden rolling tool from its place on the table",
-    "Take hold of the medium roller with narrower tips with both arms.",
-    "Grasp the roller with polished surface on the table.",
-    "Take hold of the cylindrical roller with tapered ends with arms.",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Place hands on the roller with polished surface and lift.",
-    "Reach for the palm-length roller and grab it firmly.",
-    "Grasp the medium-sized roller on the table with arms.",
-    "Hold the wood roller firmly from the table.",
-    "Lift the roller with smooth and shiny texture from the table.",
-    "Pick up the roller for smoothing materials from the table directly.",
-    "Bring both arms to grab the roller with polished surface.",
-    "Secure the solid wood roller on the table using arms.",
-    "Lift the medium roller with narrower tips with your arms.",
-    "Pick up the wood roller from the table.",
-    "Secure the roller with smooth and shiny texture from the table using arms",
-    "Lift the roller with smooth and shiny texture from the table carefully.",
-    "Use both arms to grip the palm-length roller tightly.",
-    "Take hold of the wood roller using your arms.",
-    "Take the wood roller directly from the table.",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Hold the cylindrical roller with tapered ends on the table with hands.",
-    "Grasp the roller with smooth and shiny texture firmly from the table.",
-    "Get hold of the light brown wooden roller using your arms",
-    "Lift the roller with polished surface off the table with both arms",
-    "Hold the roller with smooth and shiny texture from the table.",
-    "Pick up the roller with smooth and shiny texture using both arms.",
-    "Grab the palm-length roller directly from the table.",
-    "Hold the wood roller with both arms to pick it up",
-    "Secure the roller with smooth and shiny texture using your arms.",
-    "Use both arms to grab the roller with polished surface.",
-    "Use arms to hold the wooden rolling tool tightly.",
-    "Firmly grip the cylindrical roller with tapered ends on the table now.",
-    "Use arms to firmly grab the palm-length roller.",
-    "Lift the light brown roller off the table with arms.",
-    "Pick up the wood roller using both arms equally"
-  ],
-  "unseen": [
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the roller with tapered tips with both arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode1.json b/grab_roller/franka_clean/instructions/episode1.json
deleted file mode 100644
index d46bc06e3a6f8873318dbfac6f10e31edb36f944..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode1.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Secure the roller with polished surface on the table using arms.",
-    "Bring both arms to grab the palm-length roller.",
-    "Take hold of the roller with polished surface.",
-    "Take hold of the roller with smooth and shiny texture with arms.",
-    "Grab the solid wood roller placed on the table.",
-    "Hold the light brown roller with both arms to pick it up",
-    "Lift the cylindrical roller with tapered ends off the table with both arms",
-    "Use arms to firmly grab the light brown wooden roller.",
-    "Firmly grip the roller for smoothing materials on the table now.",
-    "Grab the light brown wooden roller directly from the table.",
-    "Reach for the medium roller with narrower tips and grab it firmly.",
-    "Lift the wood roller from the table carefully.",
-    "Grasp the palm-length roller firmly from the table.",
-    "Place hands on the palm-length roller and lift.",
-    "Use both arms to grab the roller with polished surface.",
-    "Use both arms to grip the light brown roller tightly.",
-    "Pick up the solid wood roller using both arms equally",
-    "Lift the cylindrical roller with tapered ends from its place on the table",
-    "Grip the light brown roller firmly with arms.",
-    "Pick up the solid wood roller from the table directly.",
-    "Lift the wood roller from the table.",
-    "Get hold of the medium-sized roller using your arms",
-    "Grasp the roller with polished surface on the table with arms.",
-    "Secure the wood roller from the table using arms",
-    "Reach out to grab the medium roller with narrower tips from the table",
-    "Grasp the palm-length roller on the table.",
-    "Lift the roller with smooth and shiny texture off the table with arms.",
-    "Hold the roller with polished surface from the table.",
-    "Pick up the roller for smoothing materials using both arms.",
-    "Securely grab the light brown roller using both arms.",
-    "Firmly grab the cylindrical roller with tapered ends using arms.",
-    "Use arms to hold the roller for smoothing materials tightly.",
-    "Grasp the medium-sized roller firmly with arms.",
-    "Hold the light brown roller on the table with hands.",
-    "Secure the medium roller with narrower tips using your arms.",
-    "Both arms should grab the roller with smooth and shiny texture now.",
-    "Pick up the roller with smooth and shiny texture from the table.",
-    "Take both arms to grasp the cylindrical roller with tapered ends.",
-    "Lift the light brown wooden roller with your arms.",
-    "Take the cylindrical roller with tapered ends directly from the table.",
-    "Secure the roller for smoothing materials with both arms.",
-    "Hold the medium-sized roller firmly from the table.",
-    "Take hold of the wooden rolling tool using your arms.",
-    "Take hold of the light brown wooden roller with both arms.",
-    "Reach for the solid wood roller and hold it firmly",
-    "Secure the roller for smoothing materials on the table using arms.",
-    "Bring both arms to grab the palm-length roller.",
-    "Take hold of the light brown roller.",
-    "Take hold of the wooden rolling tool with arms.",
-    "Grab the light brown roller placed on the table.",
-    "Hold the medium-sized roller with both arms to pick it up",
-    "Lift the cylindrical roller with tapered ends off the table with both arms",
-    "Use arms to firmly grab the roller with smooth and shiny texture.",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Grab the light brown wooden roller directly from the table.",
-    "Reach for the light brown roller and grab it firmly.",
-    "Lift the roller with polished surface from the table carefully.",
-    "Grasp the roller with smooth and shiny texture firmly from the table.",
-    "Place hands on the medium-sized roller and lift.",
-    "Use both arms to grab the palm-length roller.",
-    "Use both arms to grip the wood roller tightly.",
-    "Pick up the medium roller with narrower tips using both arms equally",
-    "Lift the palm-length roller from its place on the table",
-    "Grip the roller for smoothing materials firmly with arms.",
-    "Pick up the palm-length roller from the table directly.",
-    "Lift the roller for smoothing materials from the table.",
-    "Get hold of the roller with polished surface using your arms",
-    "Grasp the medium-sized roller on the table with arms.",
-    "Secure the palm-length roller from the table using arms",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Grasp the wooden rolling tool on the table.",
-    "Lift the roller for smoothing materials off the table with arms.",
-    "Hold the roller with smooth and shiny texture from the table.",
-    "Pick up the light brown wooden roller using both arms.",
-    "Securely grab the light brown wooden roller using both arms.",
-    "Firmly grab the roller with polished surface using arms.",
-    "Use arms to hold the medium roller with narrower tips tightly.",
-    "Grasp the roller with smooth and shiny texture firmly with arms.",
-    "Hold the wooden rolling tool on the table with hands.",
-    "Secure the roller for smoothing materials using your arms.",
-    "Both arms should grab the solid wood roller now.",
-    "Pick up the medium roller with narrower tips from the table.",
-    "Take both arms to grasp the palm-length roller.",
-    "Lift the solid wood roller with your arms.",
-    "Take the light brown wooden roller directly from the table.",
-    "Secure the cylindrical roller with tapered ends with both arms.",
-    "Hold the wood roller firmly from the table.",
-    "Take hold of the medium roller with narrower tips using your arms.",
-    "Take hold of the palm-length roller with both arms.",
-    "Reach for the light brown wooden roller and hold it firmly",
-    "Secure the wood roller on the table using arms.",
-    "Bring both arms to grab the light brown roller.",
-    "Take hold of the roller with smooth and shiny texture.",
-    "Take hold of the roller with smooth and shiny texture with arms.",
-    "Grab the light brown roller placed on the table.",
-    "Hold the roller with smooth and shiny texture with both arms to pick it up",
-    "Lift the roller for smoothing materials off the table with both arms",
-    "Use arms to firmly grab the medium roller with narrower tips.",
-    "Firmly grip the palm-length roller on the table now.",
-    "Grab the roller with smooth and shiny texture directly from the table."
-  ],
-  "unseen": [
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode10.json b/grab_roller/franka_clean/instructions/episode10.json
deleted file mode 100644
index 10d2422a2908bdad476e1603a8b49e40f577f0d5..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode10.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Grasp the smooth light brown roller firmly from the table.",
-    "Grasp the roller shaped like cylinder on the table.",
-    "Take hold of the long slim roller with both arms.",
-    "Lift the smooth light brown roller with your arms.",
-    "Firmly grab the roller for rolling using arms.",
-    "Reach for the cylindrical roller and hold it firmly",
-    "Lift the smooth cylindrical roller from its place on the table",
-    "Grasp the smooth cylindrical roller firmly with arms.",
-    "Pick up the slim wooden roller from the table.",
-    "Grab the palm-sized roller directly from the table.",
-    "Hold the slim wooden roller from the table.",
-    "Grab the light wood roller placed on the table.",
-    "Pick up the narrow tapered roller from the table directly.",
-    "Grip the long slim roller firmly with arms.",
-    "Use arms to firmly grab the smooth cylindrical roller.",
-    "Reach for the brown roller and grab it firmly.",
-    "Securely grab the roller for rolling using both arms.",
-    "Reach out to grab the slim wooden roller from the table",
-    "Get hold of the cylindrical roller using your arms",
-    "Lift the brown roller from the table.",
-    "Hold the slim wooden roller firmly from the table.",
-    "Hold the light wood roller with both arms to pick it up",
-    "Bring both arms to grab the palm-sized roller.",
-    "Both arms should grab the brown roller now.",
-    "Grasp the slim wooden roller on the table with arms.",
-    "Take the roller shaped like cylinder directly from the table.",
-    "Lift the smooth cylindrical roller from the table carefully.",
-    "Take hold of the smooth cylindrical roller.",
-    "Take hold of the roller for rolling with arms.",
-    "Use arms to hold the long slim roller tightly.",
-    "Pick up the slim wooden roller using both arms equally",
-    "Use both arms to grab the roller for rolling.",
-    "Use both arms to grip the narrow tapered roller tightly.",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Secure the smooth cylindrical roller using your arms.",
-    "Secure the palm-sized roller on the table using arms.",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Secure the smooth cylindrical roller from the table using arms",
-    "Place hands on the light wood roller and lift.",
-    "Secure the light wood roller with both arms.",
-    "Lift the narrow tapered roller off the table with arms.",
-    "Lift the smooth cylindrical roller off the table with both arms",
-    "Take hold of the roller with smooth texture using your arms.",
-    "Pick up the long slim roller using both arms.",
-    "Hold the smooth light brown roller on the table with hands.",
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Grasp the narrow tapered roller on the table.",
-    "Take hold of the roller with smooth texture with both arms.",
-    "Lift the palm-sized roller with your arms.",
-    "Firmly grab the long slim roller using arms.",
-    "Reach for the roller for rolling and hold it firmly",
-    "Lift the roller with smooth texture from its place on the table",
-    "Grasp the smooth cylindrical roller firmly with arms.",
-    "Pick up the roller with smooth texture from the table.",
-    "Grab the smooth light brown roller directly from the table.",
-    "Hold the cylindrical roller from the table.",
-    "Grab the smooth light brown roller placed on the table.",
-    "Pick up the smooth cylindrical roller from the table directly.",
-    "Grip the roller for rolling firmly with arms.",
-    "Use arms to firmly grab the long slim roller.",
-    "Reach for the brown roller and grab it firmly.",
-    "Securely grab the roller for rolling using both arms.",
-    "Reach out to grab the palm-sized roller from the table",
-    "Get hold of the long slim roller using your arms",
-    "Lift the smooth cylindrical roller from the table.",
-    "Hold the roller shaped like cylinder firmly from the table.",
-    "Hold the smooth cylindrical roller with both arms to pick it up",
-    "Bring both arms to grab the palm-sized roller.",
-    "Both arms should grab the narrow tapered roller now.",
-    "Grasp the brown roller on the table with arms.",
-    "Take the palm-sized roller directly from the table.",
-    "Lift the light wood roller from the table carefully.",
-    "Take hold of the palm-sized roller.",
-    "Take hold of the light wood roller with arms.",
-    "Use arms to hold the smooth light brown roller tightly.",
-    "Pick up the smooth cylindrical roller using both arms equally",
-    "Use both arms to grab the slim wooden roller.",
-    "Use both arms to grip the smooth cylindrical roller tightly.",
-    "Take both arms to grasp the roller shaped like cylinder.",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Secure the palm-sized roller on the table using arms.",
-    "Firmly grip the cylindrical roller on the table now.",
-    "Secure the roller for rolling from the table using arms",
-    "Place hands on the smooth light brown roller and lift.",
-    "Secure the long slim roller with both arms.",
-    "Lift the roller for rolling off the table with arms.",
-    "Lift the light wood roller off the table with both arms",
-    "Take hold of the roller shaped like cylinder using your arms.",
-    "Pick up the roller shaped like cylinder using both arms.",
-    "Hold the smooth cylindrical roller on the table with hands.",
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Grasp the roller with smooth texture on the table.",
-    "Take hold of the smooth cylindrical roller with both arms.",
-    "Lift the narrow tapered roller with your arms.",
-    "Firmly grab the cylindrical roller using arms.",
-    "Reach for the narrow tapered roller and hold it firmly",
-    "Lift the brown roller from its place on the table",
-    "Grasp the narrow tapered roller firmly with arms.",
-    "Pick up the brown roller from the table.",
-    "Grab the brown roller directly from the table."
-  ],
-  "unseen": [
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode11.json b/grab_roller/franka_clean/instructions/episode11.json
deleted file mode 100644
index e0cd01a86c5bdbdb31a33b4708081c6523331205..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode11.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Use arms to hold the light wood roller tightly.",
-    "Lift the roller with smooth texture from its place on the table",
-    "Grasp the narrow tapered roller firmly with arms.",
-    "Reach for the roller shaped like cylinder and hold it firmly",
-    "Hold the cylindrical roller firmly from the table.",
-    "Pick up the roller shaped like cylinder using both arms equally",
-    "Take hold of the narrow tapered roller using your arms.",
-    "Take hold of the roller shaped like cylinder with both arms.",
-    "Grab the narrow tapered roller placed on the table.",
-    "Take both arms to grasp the palm-sized roller.",
-    "Lift the cylindrical roller from the table carefully.",
-    "Grab the palm-sized roller directly from the table.",
-    "Use arms to firmly grab the smooth light brown roller.",
-    "Place hands on the brown roller and lift.",
-    "Bring both arms to grab the roller with smooth texture.",
-    "Firmly grip the roller with smooth texture on the table now.",
-    "Use both arms to grab the smooth light brown roller.",
-    "Take hold of the long slim roller.",
-    "Reach for the light wood roller and grab it firmly.",
-    "Lift the slim wooden roller from the table.",
-    "Hold the palm-sized roller with both arms to pick it up",
-    "Lift the roller shaped like cylinder off the table with arms.",
-    "Reach out to grab the smooth light brown roller from the table",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Grip the narrow tapered roller firmly with arms.",
-    "Grasp the smooth light brown roller on the table with arms.",
-    "Take hold of the smooth light brown roller with arms.",
-    "Lift the palm-sized roller with your arms.",
-    "Get hold of the palm-sized roller using your arms",
-    "Secure the brown roller using your arms.",
-    "Secure the smooth light brown roller from the table using arms",
-    "Grasp the cylindrical roller on the table.",
-    "Pick up the palm-sized roller from the table directly.",
-    "Hold the smooth light brown roller from the table.",
-    "Pick up the narrow tapered roller from the table.",
-    "Secure the smooth cylindrical roller with both arms.",
-    "Securely grab the smooth cylindrical roller using both arms.",
-    "Secure the smooth light brown roller on the table using arms.",
-    "Lift the smooth cylindrical roller off the table with both arms",
-    "Both arms should grab the narrow tapered roller now.",
-    "Firmly grab the long slim roller using arms.",
-    "Pick up the smooth light brown roller using both arms.",
-    "Take the roller for rolling directly from the table.",
-    "Hold the narrow tapered roller on the table with hands.",
-    "Use arms to hold the slim wooden roller tightly.",
-    "Lift the cylindrical roller from its place on the table",
-    "Grasp the roller with smooth texture firmly with arms.",
-    "Reach for the smooth light brown roller and hold it firmly",
-    "Hold the narrow tapered roller firmly from the table.",
-    "Pick up the narrow tapered roller using both arms equally",
-    "Take hold of the light wood roller using your arms.",
-    "Take hold of the cylindrical roller with both arms.",
-    "Grab the roller for rolling placed on the table.",
-    "Take both arms to grasp the cylindrical roller.",
-    "Lift the brown roller from the table carefully.",
-    "Grab the long slim roller directly from the table.",
-    "Use arms to firmly grab the roller with smooth texture.",
-    "Place hands on the long slim roller and lift.",
-    "Bring both arms to grab the roller for rolling.",
-    "Firmly grip the smooth light brown roller on the table now.",
-    "Use both arms to grab the smooth light brown roller.",
-    "Take hold of the brown roller.",
-    "Reach for the slim wooden roller and grab it firmly.",
-    "Lift the slim wooden roller from the table.",
-    "Hold the smooth cylindrical roller with both arms to pick it up",
-    "Lift the narrow tapered roller off the table with arms.",
-    "Reach out to grab the palm-sized roller from the table",
-    "Use both arms to grip the slim wooden roller tightly.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Grip the smooth light brown roller firmly with arms.",
-    "Grasp the smooth cylindrical roller on the table with arms.",
-    "Take hold of the roller shaped like cylinder with arms.",
-    "Lift the cylindrical roller with your arms.",
-    "Get hold of the palm-sized roller using your arms",
-    "Secure the smooth cylindrical roller using your arms.",
-    "Secure the long slim roller from the table using arms",
-    "Grasp the palm-sized roller on the table.",
-    "Pick up the roller with smooth texture from the table directly.",
-    "Hold the narrow tapered roller from the table.",
-    "Pick up the roller for rolling from the table.",
-    "Secure the smooth light brown roller with both arms.",
-    "Securely grab the roller shaped like cylinder using both arms.",
-    "Secure the roller with smooth texture on the table using arms.",
-    "Lift the long slim roller off the table with both arms",
-    "Both arms should grab the palm-sized roller now.",
-    "Firmly grab the palm-sized roller using arms.",
-    "Pick up the palm-sized roller using both arms.",
-    "Take the roller with smooth texture directly from the table.",
-    "Hold the brown roller on the table with hands.",
-    "Use arms to hold the cylindrical roller tightly.",
-    "Lift the long slim roller from its place on the table",
-    "Grasp the smooth light brown roller firmly with arms.",
-    "Reach for the roller shaped like cylinder and hold it firmly",
-    "Hold the slim wooden roller firmly from the table.",
-    "Pick up the cylindrical roller using both arms equally",
-    "Take hold of the smooth cylindrical roller using your arms.",
-    "Take hold of the smooth light brown roller with both arms.",
-    "Grab the smooth light brown roller placed on the table.",
-    "Take both arms to grasp the palm-sized roller."
-  ],
-  "unseen": [
-    "Grab the light brown wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode12.json b/grab_roller/franka_clean/instructions/episode12.json
deleted file mode 100644
index a37494f2586eeb1e64c51f47d9a173fca7cf34fe..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode12.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Hold the medium roller with narrower tips on the table with hands.",
-    "Use arms to firmly grab the wooden rolling tool.",
-    "Take hold of the roller with polished surface.",
-    "Grasp the medium roller with narrower tips firmly with arms.",
-    "Secure the cylindrical roller with tapered ends on the table using arms.",
-    "Grasp the solid wood roller on the table with arms.",
-    "Take hold of the roller with smooth and shiny texture with both arms.",
-    "Take hold of the wood roller using your arms.",
-    "Hold the roller with polished surface firmly from the table.",
-    "Pick up the roller with polished surface from the table directly.",
-    "Both arms should grab the roller with smooth and shiny texture now.",
-    "Secure the solid wood roller using your arms.",
-    "Firmly grip the roller with polished surface on the table now.",
-    "Grip the cylindrical roller with tapered ends firmly with arms.",
-    "Hold the cylindrical roller with tapered ends from the table.",
-    "Hold the wooden rolling tool with both arms to pick it up",
-    "Use both arms to grip the medium roller with narrower tips tightly.",
-    "Lift the wooden rolling tool from its place on the table",
-    "Take hold of the wood roller with arms.",
-    "Bring both arms to grab the wooden rolling tool.",
-    "Grasp the solid wood roller firmly from the table.",
-    "Lift the wooden rolling tool off the table with arms.",
-    "Securely grab the roller for smoothing materials using both arms.",
-    "Place hands on the roller with polished surface and lift.",
-    "Reach for the cylindrical roller with tapered ends and grab it firmly.",
-    "Lift the light brown roller off the table with both arms",
-    "Take both arms to grasp the cylindrical roller with tapered ends.",
-    "Grab the solid wood roller directly from the table.",
-    "Grasp the wooden rolling tool on the table.",
-    "Lift the wood roller from the table carefully.",
-    "Lift the cylindrical roller with tapered ends from the table.",
-    "Get hold of the light brown wooden roller using your arms",
-    "Lift the wood roller with your arms.",
-    "Pick up the roller for smoothing materials from the table.",
-    "Reach out to grab the palm-length roller from the table",
-    "Secure the roller for smoothing materials from the table using arms",
-    "Pick up the medium-sized roller using both arms.",
-    "Secure the medium roller with narrower tips with both arms.",
-    "Take the light brown roller directly from the table.",
-    "Use arms to hold the roller with smooth and shiny texture tightly.",
-    "Pick up the light brown wooden roller using both arms equally",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Use both arms to grab the medium roller with narrower tips.",
-    "Reach for the wood roller and hold it firmly",
-    "Firmly grab the medium roller with narrower tips using arms.",
-    "Hold the solid wood roller on the table with hands.",
-    "Use arms to firmly grab the light brown wooden roller.",
-    "Take hold of the light brown roller.",
-    "Grasp the roller with polished surface firmly with arms.",
-    "Secure the cylindrical roller with tapered ends on the table using arms.",
-    "Grasp the medium roller with narrower tips on the table with arms.",
-    "Take hold of the medium-sized roller with both arms.",
-    "Take hold of the palm-length roller using your arms.",
-    "Hold the light brown roller firmly from the table.",
-    "Pick up the wood roller from the table directly.",
-    "Both arms should grab the medium-sized roller now.",
-    "Secure the solid wood roller using your arms.",
-    "Firmly grip the light brown wooden roller on the table now.",
-    "Grip the light brown wooden roller firmly with arms.",
-    "Hold the wooden rolling tool from the table.",
-    "Hold the roller with polished surface with both arms to pick it up",
-    "Use both arms to grip the medium roller with narrower tips tightly.",
-    "Lift the light brown roller from its place on the table",
-    "Take hold of the wooden rolling tool with arms.",
-    "Bring both arms to grab the wood roller.",
-    "Grasp the palm-length roller firmly from the table.",
-    "Lift the roller with smooth and shiny texture off the table with arms.",
-    "Securely grab the roller with polished surface using both arms.",
-    "Place hands on the medium roller with narrower tips and lift.",
-    "Reach for the roller with polished surface and grab it firmly.",
-    "Lift the wood roller off the table with both arms",
-    "Take both arms to grasp the wooden rolling tool.",
-    "Grab the medium roller with narrower tips directly from the table.",
-    "Grasp the medium roller with narrower tips on the table.",
-    "Lift the palm-length roller from the table carefully.",
-    "Lift the medium roller with narrower tips from the table.",
-    "Get hold of the medium roller with narrower tips using your arms",
-    "Lift the palm-length roller with your arms.",
-    "Pick up the solid wood roller from the table.",
-    "Reach out to grab the roller for smoothing materials from the table",
-    "Secure the wood roller from the table using arms",
-    "Pick up the palm-length roller using both arms.",
-    "Secure the wood roller with both arms.",
-    "Take the roller for smoothing materials directly from the table.",
-    "Use arms to hold the roller with polished surface tightly.",
-    "Pick up the roller with smooth and shiny texture using both arms equally",
-    "Grab the palm-length roller placed on the table.",
-    "Use both arms to grab the cylindrical roller with tapered ends.",
-    "Reach for the solid wood roller and hold it firmly",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Hold the light brown wooden roller on the table with hands.",
-    "Use arms to firmly grab the light brown wooden roller.",
-    "Take hold of the palm-length roller.",
-    "Grasp the medium-sized roller firmly with arms.",
-    "Secure the wood roller on the table using arms.",
-    "Grasp the wood roller on the table with arms.",
-    "Take hold of the roller with smooth and shiny texture with both arms.",
-    "Take hold of the medium-sized roller using your arms.",
-    "Hold the medium roller with narrower tips firmly from the table.",
-    "Pick up the palm-length roller from the table directly."
-  ],
-  "unseen": [
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use arms to grab the smooth wooden roller."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode13.json b/grab_roller/franka_clean/instructions/episode13.json
deleted file mode 100644
index 4e7986bc418e6d023590239be2477a53fb26bc07..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode13.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Grasp the cylindrical roller with tapered ends on the table.",
-    "Use arms to firmly grab the wood roller.",
-    "Reach for the solid wood roller and hold it firmly",
-    "Pick up the roller with polished surface using both arms.",
-    "Pick up the wooden rolling tool from the table directly.",
-    "Lift the cylindrical roller with tapered ends from its place on the table",
-    "Hold the cylindrical roller with tapered ends on the table with hands.",
-    "Place hands on the cylindrical roller with tapered ends and lift.",
-    "Hold the roller with polished surface from the table.",
-    "Firmly grab the light brown roller using arms.",
-    "Take both arms to grasp the wooden rolling tool.",
-    "Pick up the wooden rolling tool from the table.",
-    "Take hold of the roller for smoothing materials with both arms.",
-    "Take the roller for smoothing materials directly from the table.",
-    "Lift the roller for smoothing materials off the table with arms.",
-    "Secure the light brown roller from the table using arms",
-    "Grip the palm-length roller firmly with arms.",
-    "Bring both arms to grab the medium roller with narrower tips.",
-    "Grasp the light brown roller on the table with arms.",
-    "Lift the solid wood roller from the table carefully.",
-    "Reach for the palm-length roller and grab it firmly.",
-    "Take hold of the medium-sized roller.",
-    "Pick up the roller with smooth and shiny texture using both arms equally",
-    "Lift the medium-sized roller with your arms.",
-    "Secure the light brown roller with both arms.",
-    "Reach out to grab the roller for smoothing materials from the table",
-    "Secure the medium roller with narrower tips on the table using arms.",
-    "Grab the roller with polished surface directly from the table.",
-    "Use both arms to grab the roller with polished surface.",
-    "Firmly grip the light brown wooden roller on the table now.",
-    "Securely grab the light brown roller using both arms.",
-    "Use arms to hold the light brown roller tightly.",
-    "Secure the medium roller with narrower tips using your arms.",
-    "Lift the solid wood roller from the table.",
-    "Both arms should grab the roller with smooth and shiny texture now.",
-    "Take hold of the wood roller with arms.",
-    "Grasp the medium-sized roller firmly with arms.",
-    "Lift the roller for smoothing materials off the table with both arms",
-    "Get hold of the wood roller using your arms",
-    "Take hold of the roller with smooth and shiny texture using your arms.",
-    "Use both arms to grip the cylindrical roller with tapered ends tightly.",
-    "Grab the wooden rolling tool placed on the table.",
-    "Grasp the wooden rolling tool firmly from the table.",
-    "Hold the solid wood roller with both arms to pick it up",
-    "Hold the medium roller with narrower tips firmly from the table.",
-    "Grasp the medium roller with narrower tips on the table.",
-    "Use arms to firmly grab the roller with polished surface.",
-    "Reach for the cylindrical roller with tapered ends and hold it firmly",
-    "Pick up the palm-length roller using both arms.",
-    "Pick up the solid wood roller from the table directly.",
-    "Lift the light brown wooden roller from its place on the table",
-    "Hold the medium roller with narrower tips on the table with hands.",
-    "Place hands on the roller with smooth and shiny texture and lift.",
-    "Hold the roller for smoothing materials from the table.",
-    "Firmly grab the cylindrical roller with tapered ends using arms.",
-    "Take both arms to grasp the cylindrical roller with tapered ends.",
-    "Pick up the light brown wooden roller from the table.",
-    "Take hold of the light brown roller with both arms.",
-    "Take the light brown roller directly from the table.",
-    "Lift the light brown roller off the table with arms.",
-    "Secure the roller for smoothing materials from the table using arms",
-    "Grip the solid wood roller firmly with arms.",
-    "Bring both arms to grab the wooden rolling tool.",
-    "Grasp the roller with polished surface on the table with arms.",
-    "Lift the roller with smooth and shiny texture from the table carefully.",
-    "Reach for the palm-length roller and grab it firmly.",
-    "Take hold of the light brown wooden roller.",
-    "Pick up the roller for smoothing materials using both arms equally",
-    "Lift the roller with smooth and shiny texture with your arms.",
-    "Secure the cylindrical roller with tapered ends with both arms.",
-    "Reach out to grab the wood roller from the table",
-    "Secure the medium-sized roller on the table using arms.",
-    "Grab the wooden rolling tool directly from the table.",
-    "Use both arms to grab the wood roller.",
-    "Firmly grip the roller for smoothing materials on the table now.",
-    "Securely grab the light brown roller using both arms.",
-    "Use arms to hold the medium roller with narrower tips tightly.",
-    "Secure the light brown wooden roller using your arms.",
-    "Lift the solid wood roller from the table.",
-    "Both arms should grab the cylindrical roller with tapered ends now.",
-    "Take hold of the medium roller with narrower tips with arms.",
-    "Grasp the wooden rolling tool firmly with arms.",
-    "Lift the wood roller off the table with both arms",
-    "Get hold of the medium-sized roller using your arms",
-    "Take hold of the medium-sized roller using your arms.",
-    "Use both arms to grip the roller with polished surface tightly.",
-    "Grab the light brown wooden roller placed on the table.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Hold the medium-sized roller with both arms to pick it up",
-    "Hold the roller with smooth and shiny texture firmly from the table.",
-    "Grasp the roller for smoothing materials on the table.",
-    "Use arms to firmly grab the light brown roller.",
-    "Reach for the medium roller with narrower tips and hold it firmly",
-    "Pick up the roller with smooth and shiny texture using both arms.",
-    "Pick up the medium-sized roller from the table directly.",
-    "Lift the light brown roller from its place on the table",
-    "Hold the medium-sized roller on the table with hands.",
-    "Place hands on the roller with smooth and shiny texture and lift.",
-    "Hold the light brown wooden roller from the table.",
-    "Firmly grab the roller with polished surface using arms."
-  ],
-  "unseen": [
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode14.json b/grab_roller/franka_clean/instructions/episode14.json
deleted file mode 100644
index 701ce09c1e8b5e427b075320cf68e1cdb1fabc39..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode14.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Take both arms to grasp the palm-sized roller.",
-    "Lift the smooth cylindrical roller off the table with arms.",
-    "Use arms to hold the cylindrical roller tightly.",
-    "Pick up the cylindrical roller using both arms.",
-    "Securely grab the palm-sized roller using both arms.",
-    "Hold the roller with smooth texture on the table with hands.",
-    "Grasp the long slim roller firmly with arms.",
-    "Reach out to grab the roller with smooth texture from the table",
-    "Reach for the cylindrical roller and grab it firmly.",
-    "Firmly grab the light wood roller using arms.",
-    "Grip the palm-sized roller firmly with arms.",
-    "Grasp the roller with smooth texture on the table.",
-    "Use both arms to grab the cylindrical roller.",
-    "Hold the long slim roller firmly from the table.",
-    "Secure the light wood roller using your arms.",
-    "Secure the cylindrical roller with both arms.",
-    "Grasp the roller for rolling firmly from the table.",
-    "Grab the roller for rolling directly from the table.",
-    "Secure the smooth light brown roller from the table using arms",
-    "Lift the cylindrical roller from the table carefully.",
-    "Lift the cylindrical roller off the table with both arms",
-    "Get hold of the brown roller using your arms",
-    "Hold the roller for rolling from the table.",
-    "Place hands on the smooth light brown roller and lift.",
-    "Use both arms to grip the smooth cylindrical roller tightly.",
-    "Take hold of the smooth cylindrical roller with both arms.",
-    "Take the slim wooden roller directly from the table.",
-    "Pick up the roller for rolling from the table.",
-    "Lift the cylindrical roller from the table.",
-    "Lift the long slim roller from its place on the table",
-    "Hold the palm-sized roller with both arms to pick it up",
-    "Pick up the roller with smooth texture from the table directly.",
-    "Lift the narrow tapered roller with your arms.",
-    "Firmly grip the long slim roller on the table now.",
-    "Take hold of the palm-sized roller with arms.",
-    "Both arms should grab the brown roller now.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Take hold of the long slim roller.",
-    "Take hold of the palm-sized roller using your arms.",
-    "Grab the brown roller placed on the table.",
-    "Grasp the roller for rolling on the table with arms.",
-    "Use arms to firmly grab the smooth light brown roller.",
-    "Reach for the slim wooden roller and hold it firmly",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Pick up the long slim roller using both arms equally",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Lift the brown roller off the table with arms.",
-    "Use arms to hold the palm-sized roller tightly.",
-    "Pick up the long slim roller using both arms.",
-    "Securely grab the narrow tapered roller using both arms.",
-    "Hold the brown roller on the table with hands.",
-    "Grasp the palm-sized roller firmly with arms.",
-    "Reach out to grab the narrow tapered roller from the table",
-    "Reach for the smooth light brown roller and grab it firmly.",
-    "Firmly grab the slim wooden roller using arms.",
-    "Grip the light wood roller firmly with arms.",
-    "Grasp the smooth cylindrical roller on the table.",
-    "Use both arms to grab the smooth light brown roller.",
-    "Hold the smooth light brown roller firmly from the table.",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Secure the roller for rolling with both arms.",
-    "Grasp the brown roller firmly from the table.",
-    "Grab the long slim roller directly from the table.",
-    "Secure the palm-sized roller from the table using arms",
-    "Lift the roller with smooth texture from the table carefully.",
-    "Lift the slim wooden roller off the table with both arms",
-    "Get hold of the brown roller using your arms",
-    "Hold the brown roller from the table.",
-    "Place hands on the narrow tapered roller and lift.",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Take hold of the roller shaped like cylinder with both arms.",
-    "Take the brown roller directly from the table.",
-    "Pick up the roller for rolling from the table.",
-    "Lift the palm-sized roller from the table.",
-    "Lift the slim wooden roller from its place on the table",
-    "Hold the brown roller with both arms to pick it up",
-    "Pick up the roller for rolling from the table directly.",
-    "Lift the roller shaped like cylinder with your arms.",
-    "Firmly grip the brown roller on the table now.",
-    "Take hold of the palm-sized roller with arms.",
-    "Both arms should grab the roller for rolling now.",
-    "Secure the smooth light brown roller on the table using arms.",
-    "Take hold of the roller with smooth texture.",
-    "Take hold of the roller shaped like cylinder using your arms.",
-    "Grab the cylindrical roller placed on the table.",
-    "Grasp the light wood roller on the table with arms.",
-    "Use arms to firmly grab the light wood roller.",
-    "Reach for the narrow tapered roller and hold it firmly",
-    "Bring both arms to grab the roller for rolling.",
-    "Pick up the brown roller using both arms equally",
-    "Take both arms to grasp the slim wooden roller.",
-    "Lift the roller with smooth texture off the table with arms.",
-    "Use arms to hold the brown roller tightly.",
-    "Pick up the long slim roller using both arms.",
-    "Securely grab the roller with smooth texture using both arms.",
-    "Hold the cylindrical roller on the table with hands.",
-    "Grasp the light wood roller firmly with arms.",
-    "Reach out to grab the long slim roller from the table",
-    "Reach for the palm-sized roller and grab it firmly.",
-    "Firmly grab the long slim roller using arms."
-  ],
-  "unseen": [
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode15.json b/grab_roller/franka_clean/instructions/episode15.json
deleted file mode 100644
index f4639071789292c1bb7a1da92ccdef4d495952b6..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode15.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Hold the light wood roller on the table with hands.",
-    "Place hands on the smooth cylindrical roller and lift.",
-    "Both arms should grab the long slim roller now.",
-    "Hold the roller with smooth texture with both arms to pick it up",
-    "Lift the light wood roller from the table carefully.",
-    "Pick up the cylindrical roller using both arms.",
-    "Grasp the slim wooden roller on the table with arms.",
-    "Lift the roller with smooth texture with your arms.",
-    "Secure the long slim roller with both arms.",
-    "Reach for the slim wooden roller and hold it firmly",
-    "Use arms to hold the roller with smooth texture tightly.",
-    "Use both arms to grab the roller with smooth texture.",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Take hold of the narrow tapered roller using your arms.",
-    "Pick up the roller shaped like cylinder from the table.",
-    "Use both arms to grip the brown roller tightly.",
-    "Take the roller shaped like cylinder directly from the table.",
-    "Grasp the palm-sized roller on the table.",
-    "Pick up the brown roller using both arms equally",
-    "Lift the roller with smooth texture off the table with both arms",
-    "Firmly grab the smooth light brown roller using arms.",
-    "Grab the cylindrical roller placed on the table.",
-    "Firmly grip the cylindrical roller on the table now.",
-    "Hold the light wood roller from the table.",
-    "Secure the roller shaped like cylinder on the table using arms.",
-    "Lift the smooth light brown roller off the table with arms.",
-    "Grip the long slim roller firmly with arms.",
-    "Pick up the brown roller from the table directly.",
-    "Get hold of the light wood roller using your arms",
-    "Take hold of the light wood roller.",
-    "Lift the slim wooden roller from its place on the table",
-    "Secure the palm-sized roller using your arms.",
-    "Take hold of the slim wooden roller with both arms.",
-    "Secure the roller with smooth texture from the table using arms",
-    "Grab the roller shaped like cylinder directly from the table.",
-    "Use arms to firmly grab the brown roller.",
-    "Grasp the smooth light brown roller firmly with arms.",
-    "Hold the light wood roller firmly from the table.",
-    "Take hold of the slim wooden roller with arms.",
-    "Reach out to grab the roller with smooth texture from the table",
-    "Securely grab the narrow tapered roller using both arms.",
-    "Reach for the narrow tapered roller and grab it firmly.",
-    "Lift the roller for rolling from the table.",
-    "Grasp the palm-sized roller firmly from the table.",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Hold the palm-sized roller on the table with hands.",
-    "Place hands on the slim wooden roller and lift.",
-    "Both arms should grab the roller for rolling now.",
-    "Hold the smooth cylindrical roller with both arms to pick it up",
-    "Lift the roller with smooth texture from the table carefully.",
-    "Pick up the narrow tapered roller using both arms.",
-    "Grasp the brown roller on the table with arms.",
-    "Lift the smooth cylindrical roller with your arms.",
-    "Secure the roller shaped like cylinder with both arms.",
-    "Reach for the brown roller and hold it firmly",
-    "Use arms to hold the roller for rolling tightly.",
-    "Use both arms to grab the light wood roller.",
-    "Take both arms to grasp the brown roller.",
-    "Take hold of the long slim roller using your arms.",
-    "Pick up the brown roller from the table.",
-    "Use both arms to grip the roller for rolling tightly.",
-    "Take the smooth light brown roller directly from the table.",
-    "Grasp the smooth cylindrical roller on the table.",
-    "Pick up the roller with smooth texture using both arms equally",
-    "Lift the narrow tapered roller off the table with both arms",
-    "Firmly grab the palm-sized roller using arms.",
-    "Grab the roller for rolling placed on the table.",
-    "Firmly grip the smooth light brown roller on the table now.",
-    "Hold the palm-sized roller from the table.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Lift the palm-sized roller off the table with arms.",
-    "Grip the narrow tapered roller firmly with arms.",
-    "Pick up the cylindrical roller from the table directly.",
-    "Get hold of the light wood roller using your arms",
-    "Take hold of the palm-sized roller.",
-    "Lift the roller with smooth texture from its place on the table",
-    "Secure the roller for rolling using your arms.",
-    "Take hold of the slim wooden roller with both arms.",
-    "Secure the long slim roller from the table using arms",
-    "Grab the smooth cylindrical roller directly from the table.",
-    "Use arms to firmly grab the smooth cylindrical roller.",
-    "Grasp the roller for rolling firmly with arms.",
-    "Hold the cylindrical roller firmly from the table.",
-    "Take hold of the palm-sized roller with arms.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Securely grab the narrow tapered roller using both arms.",
-    "Reach for the narrow tapered roller and grab it firmly.",
-    "Lift the roller with smooth texture from the table.",
-    "Grasp the roller for rolling firmly from the table.",
-    "Bring both arms to grab the slim wooden roller.",
-    "Hold the palm-sized roller on the table with hands.",
-    "Place hands on the narrow tapered roller and lift.",
-    "Both arms should grab the smooth light brown roller now.",
-    "Hold the roller for rolling with both arms to pick it up",
-    "Lift the smooth light brown roller from the table carefully.",
-    "Pick up the smooth light brown roller using both arms.",
-    "Grasp the smooth cylindrical roller on the table with arms.",
-    "Lift the long slim roller with your arms.",
-    "Secure the narrow tapered roller with both arms.",
-    "Reach for the smooth light brown roller and hold it firmly"
-  ],
-  "unseen": [
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode16.json b/grab_roller/franka_clean/instructions/episode16.json
deleted file mode 100644
index a56344c643ab654ffd4209fbaf5804ae35e49b21..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode16.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Use both arms to grip the roller with smooth and shiny texture tightly.",
-    "Lift the wood roller off the table with arms.",
-    "Reach for the roller with polished surface and grab it firmly.",
-    "Grab the roller with smooth and shiny texture directly from the table.",
-    "Grasp the roller with polished surface on the table.",
-    "Lift the solid wood roller with your arms.",
-    "Lift the medium roller with narrower tips off the table with both arms",
-    "Lift the light brown wooden roller from the table carefully.",
-    "Hold the solid wood roller firmly from the table.",
-    "Take hold of the roller with smooth and shiny texture with both arms.",
-    "Pick up the cylindrical roller with tapered ends using both arms equally",
-    "Secure the wood roller from the table using arms",
-    "Pick up the palm-length roller from the table directly.",
-    "Grasp the light brown wooden roller on the table with arms.",
-    "Hold the roller for smoothing materials from the table.",
-    "Firmly grab the roller with smooth and shiny texture using arms.",
-    "Take both arms to grasp the medium roller with narrower tips.",
-    "Firmly grip the roller with polished surface on the table now.",
-    "Take the roller for smoothing materials directly from the table.",
-    "Get hold of the cylindrical roller with tapered ends using your arms",
-    "Reach out to grab the light brown roller from the table",
-    "Hold the medium roller with narrower tips with both arms to pick it up",
-    "Pick up the roller for smoothing materials from the table.",
-    "Use both arms to grab the light brown roller.",
-    "Take hold of the wooden rolling tool.",
-    "Both arms should grab the wooden rolling tool now.",
-    "Secure the wood roller on the table using arms.",
-    "Grasp the palm-length roller firmly from the table.",
-    "Grab the roller with polished surface placed on the table.",
-    "Grip the medium-sized roller firmly with arms.",
-    "Place hands on the palm-length roller and lift.",
-    "Lift the roller for smoothing materials from its place on the table",
-    "Use arms to firmly grab the roller with smooth and shiny texture.",
-    "Take hold of the light brown roller with arms.",
-    "Pick up the medium-sized roller using both arms.",
-    "Secure the roller with polished surface with both arms.",
-    "Grasp the light brown wooden roller firmly with arms.",
-    "Lift the light brown wooden roller from the table.",
-    "Secure the solid wood roller using your arms.",
-    "Bring both arms to grab the wood roller.",
-    "Take hold of the medium roller with narrower tips using your arms.",
-    "Securely grab the wooden rolling tool using both arms.",
-    "Hold the light brown roller on the table with hands.",
-    "Use arms to hold the medium-sized roller tightly.",
-    "Reach for the light brown wooden roller and hold it firmly",
-    "Use both arms to grip the solid wood roller tightly.",
-    "Lift the wood roller off the table with arms.",
-    "Reach for the solid wood roller and grab it firmly.",
-    "Grab the roller with polished surface directly from the table.",
-    "Grasp the solid wood roller on the table.",
-    "Lift the wood roller with your arms.",
-    "Lift the medium-sized roller off the table with both arms",
-    "Lift the roller for smoothing materials from the table carefully.",
-    "Hold the cylindrical roller with tapered ends firmly from the table.",
-    "Take hold of the wooden rolling tool with both arms.",
-    "Pick up the light brown roller using both arms equally",
-    "Secure the roller for smoothing materials from the table using arms",
-    "Pick up the cylindrical roller with tapered ends from the table directly.",
-    "Grasp the roller for smoothing materials on the table with arms.",
-    "Hold the wooden rolling tool from the table.",
-    "Firmly grab the medium roller with narrower tips using arms.",
-    "Take both arms to grasp the roller with smooth and shiny texture.",
-    "Firmly grip the medium roller with narrower tips on the table now.",
-    "Take the medium-sized roller directly from the table.",
-    "Get hold of the medium-sized roller using your arms",
-    "Reach out to grab the roller for smoothing materials from the table",
-    "Hold the light brown wooden roller with both arms to pick it up",
-    "Pick up the light brown wooden roller from the table.",
-    "Use both arms to grab the wood roller.",
-    "Take hold of the roller for smoothing materials.",
-    "Both arms should grab the wooden rolling tool now.",
-    "Secure the wood roller on the table using arms.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Grab the medium roller with narrower tips placed on the table.",
-    "Grip the light brown wooden roller firmly with arms.",
-    "Place hands on the roller for smoothing materials and lift.",
-    "Lift the light brown wooden roller from its place on the table",
-    "Use arms to firmly grab the roller with polished surface.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Pick up the light brown roller using both arms.",
-    "Secure the wooden rolling tool with both arms.",
-    "Grasp the wooden rolling tool firmly with arms.",
-    "Lift the palm-length roller from the table.",
-    "Secure the wooden rolling tool using your arms.",
-    "Bring both arms to grab the light brown roller.",
-    "Take hold of the light brown wooden roller using your arms.",
-    "Securely grab the palm-length roller using both arms.",
-    "Hold the medium roller with narrower tips on the table with hands.",
-    "Use arms to hold the light brown roller tightly.",
-    "Reach for the roller with smooth and shiny texture and hold it firmly",
-    "Use both arms to grip the wooden rolling tool tightly.",
-    "Lift the wood roller off the table with arms.",
-    "Reach for the roller with polished surface and grab it firmly.",
-    "Grab the light brown roller directly from the table.",
-    "Grasp the light brown roller on the table.",
-    "Lift the medium-sized roller with your arms.",
-    "Lift the wood roller off the table with both arms",
-    "Lift the cylindrical roller with tapered ends from the table carefully.",
-    "Hold the palm-length roller firmly from the table.",
-    "Take hold of the palm-length roller with both arms."
-  ],
-  "unseen": [
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode17.json b/grab_roller/franka_clean/instructions/episode17.json
deleted file mode 100644
index 228ba4ed1a424e3752de77fb032183f6b3ec5018..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode17.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Use arms to hold the wooden rolling tool tightly.",
-    "Secure the wooden rolling tool with both arms.",
-    "Get hold of the medium-sized roller using your arms",
-    "Hold the palm-length roller firmly from the table.",
-    "Lift the medium roller with narrower tips from the table.",
-    "Hold the roller with smooth and shiny texture on the table with hands.",
-    "Both arms should grab the cylindrical roller with tapered ends now.",
-    "Pick up the solid wood roller from the table.",
-    "Reach for the light brown roller and grab it firmly.",
-    "Firmly grab the cylindrical roller with tapered ends using arms.",
-    "Grip the wood roller firmly with arms.",
-    "Lift the solid wood roller off the table with arms.",
-    "Grasp the light brown roller on the table with arms.",
-    "Use both arms to grip the roller with polished surface tightly.",
-    "Reach out to grab the medium-sized roller from the table",
-    "Pick up the cylindrical roller with tapered ends using both arms equally",
-    "Securely grab the light brown roller using both arms.",
-    "Grasp the solid wood roller on the table.",
-    "Lift the medium roller with narrower tips from the table carefully.",
-    "Use both arms to grab the light brown roller.",
-    "Take the roller with smooth and shiny texture directly from the table.",
-    "Reach for the wooden rolling tool and hold it firmly",
-    "Grasp the light brown wooden roller firmly with arms.",
-    "Pick up the light brown wooden roller using both arms.",
-    "Lift the cylindrical roller with tapered ends off the table with both arms",
-    "Secure the cylindrical roller with tapered ends using your arms.",
-    "Pick up the medium-sized roller from the table directly.",
-    "Grab the palm-length roller directly from the table.",
-    "Take hold of the medium roller with narrower tips.",
-    "Hold the light brown roller with both arms to pick it up",
-    "Take hold of the medium-sized roller with arms.",
-    "Take both arms to grasp the light brown wooden roller.",
-    "Secure the medium roller with narrower tips on the table using arms.",
-    "Grab the light brown wooden roller placed on the table.",
-    "Take hold of the medium roller with narrower tips with both arms.",
-    "Lift the roller with polished surface from its place on the table",
-    "Hold the medium roller with narrower tips from the table.",
-    "Bring both arms to grab the wood roller.",
-    "Lift the light brown wooden roller with your arms.",
-    "Use arms to firmly grab the roller for smoothing materials.",
-    "Firmly grip the cylindrical roller with tapered ends on the table now.",
-    "Secure the wood roller from the table using arms",
-    "Take hold of the medium-sized roller using your arms.",
-    "Grasp the roller with polished surface firmly from the table.",
-    "Place hands on the cylindrical roller with tapered ends and lift.",
-    "Use arms to hold the medium roller with narrower tips tightly.",
-    "Secure the medium-sized roller with both arms.",
-    "Get hold of the wooden rolling tool using your arms",
-    "Hold the wood roller firmly from the table.",
-    "Lift the palm-length roller from the table.",
-    "Hold the solid wood roller on the table with hands.",
-    "Both arms should grab the medium roller with narrower tips now.",
-    "Pick up the light brown roller from the table.",
-    "Reach for the wood roller and grab it firmly.",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Grip the roller for smoothing materials firmly with arms.",
-    "Lift the wooden rolling tool off the table with arms.",
-    "Grasp the cylindrical roller with tapered ends on the table with arms.",
-    "Use both arms to grip the medium-sized roller tightly.",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Pick up the roller with polished surface using both arms equally",
-    "Securely grab the roller with smooth and shiny texture using both arms.",
-    "Grasp the solid wood roller on the table.",
-    "Lift the medium-sized roller from the table carefully.",
-    "Use both arms to grab the medium-sized roller.",
-    "Take the medium-sized roller directly from the table.",
-    "Reach for the cylindrical roller with tapered ends and hold it firmly",
-    "Grasp the light brown roller firmly with arms.",
-    "Pick up the medium-sized roller using both arms.",
-    "Lift the roller with polished surface off the table with both arms",
-    "Secure the roller for smoothing materials using your arms.",
-    "Pick up the solid wood roller from the table directly.",
-    "Grab the roller with smooth and shiny texture directly from the table.",
-    "Take hold of the roller with smooth and shiny texture.",
-    "Hold the light brown roller with both arms to pick it up",
-    "Take hold of the roller with polished surface with arms.",
-    "Take both arms to grasp the solid wood roller.",
-    "Secure the light brown wooden roller on the table using arms.",
-    "Grab the roller with smooth and shiny texture placed on the table.",
-    "Take hold of the palm-length roller with both arms.",
-    "Lift the medium-sized roller from its place on the table",
-    "Hold the cylindrical roller with tapered ends from the table.",
-    "Bring both arms to grab the wooden rolling tool.",
-    "Lift the palm-length roller with your arms.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Firmly grip the roller for smoothing materials on the table now.",
-    "Secure the wooden rolling tool from the table using arms",
-    "Take hold of the light brown roller using your arms.",
-    "Grasp the roller for smoothing materials firmly from the table.",
-    "Place hands on the palm-length roller and lift.",
-    "Use arms to hold the roller for smoothing materials tightly.",
-    "Secure the light brown wooden roller with both arms.",
-    "Get hold of the wood roller using your arms",
-    "Hold the solid wood roller firmly from the table.",
-    "Lift the medium roller with narrower tips from the table.",
-    "Hold the palm-length roller on the table with hands.",
-    "Both arms should grab the roller with polished surface now.",
-    "Pick up the roller with smooth and shiny texture from the table.",
-    "Reach for the light brown wooden roller and grab it firmly.",
-    "Firmly grab the roller with polished surface using arms."
-  ],
-  "unseen": [
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the roller with tapered tips with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode18.json b/grab_roller/franka_clean/instructions/episode18.json
deleted file mode 100644
index 4a46c1f5f4318c9dd5433cac2c6f3371b906aa04..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode18.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Securely grab the long slim roller using both arms.",
-    "Reach for the brown roller and grab it firmly.",
-    "Lift the brown roller off the table with both arms",
-    "Firmly grab the long slim roller using arms.",
-    "Lift the smooth light brown roller from its place on the table",
-    "Firmly grip the roller for rolling on the table now.",
-    "Take the slim wooden roller directly from the table.",
-    "Pick up the roller with smooth texture using both arms.",
-    "Place hands on the slim wooden roller and lift.",
-    "Use arms to hold the long slim roller tightly.",
-    "Lift the smooth light brown roller with your arms.",
-    "Grasp the roller for rolling on the table with arms.",
-    "Hold the roller for rolling firmly from the table.",
-    "Take hold of the roller for rolling.",
-    "Secure the brown roller with both arms.",
-    "Grasp the long slim roller firmly with arms.",
-    "Bring both arms to grab the long slim roller.",
-    "Lift the slim wooden roller from the table.",
-    "Grasp the smooth cylindrical roller on the table.",
-    "Secure the slim wooden roller on the table using arms.",
-    "Take hold of the long slim roller with arms.",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Hold the roller for rolling with both arms to pick it up",
-    "Grab the smooth light brown roller directly from the table.",
-    "Pick up the roller shaped like cylinder using both arms equally",
-    "Grip the narrow tapered roller firmly with arms.",
-    "Use both arms to grab the narrow tapered roller.",
-    "Get hold of the slim wooden roller using your arms",
-    "Pick up the roller for rolling from the table directly.",
-    "Both arms should grab the slim wooden roller now.",
-    "Take hold of the roller with smooth texture using your arms.",
-    "Hold the smooth light brown roller on the table with hands.",
-    "Lift the slim wooden roller from the table carefully.",
-    "Reach out to grab the slim wooden roller from the table",
-    "Grasp the slim wooden roller firmly from the table.",
-    "Secure the palm-sized roller using your arms.",
-    "Reach for the roller shaped like cylinder and hold it firmly",
-    "Lift the smooth light brown roller off the table with arms.",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Secure the smooth cylindrical roller from the table using arms",
-    "Use arms to firmly grab the brown roller.",
-    "Take hold of the light wood roller with both arms.",
-    "Hold the long slim roller from the table.",
-    "Grab the roller with smooth texture placed on the table.",
-    "Pick up the narrow tapered roller from the table.",
-    "Securely grab the smooth cylindrical roller using both arms.",
-    "Reach for the long slim roller and grab it firmly.",
-    "Lift the palm-sized roller off the table with both arms",
-    "Firmly grab the roller shaped like cylinder using arms.",
-    "Lift the light wood roller from its place on the table",
-    "Firmly grip the long slim roller on the table now.",
-    "Take the slim wooden roller directly from the table.",
-    "Pick up the roller shaped like cylinder using both arms.",
-    "Place hands on the cylindrical roller and lift.",
-    "Use arms to hold the cylindrical roller tightly.",
-    "Lift the slim wooden roller with your arms.",
-    "Grasp the long slim roller on the table with arms.",
-    "Hold the light wood roller firmly from the table.",
-    "Take hold of the brown roller.",
-    "Secure the smooth light brown roller with both arms.",
-    "Grasp the narrow tapered roller firmly with arms.",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Lift the cylindrical roller from the table.",
-    "Grasp the light wood roller on the table.",
-    "Secure the smooth light brown roller on the table using arms.",
-    "Take hold of the long slim roller with arms.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Hold the light wood roller with both arms to pick it up",
-    "Grab the smooth cylindrical roller directly from the table.",
-    "Pick up the slim wooden roller using both arms equally",
-    "Grip the long slim roller firmly with arms.",
-    "Use both arms to grab the roller for rolling.",
-    "Get hold of the brown roller using your arms",
-    "Pick up the smooth cylindrical roller from the table directly.",
-    "Both arms should grab the brown roller now.",
-    "Take hold of the roller shaped like cylinder using your arms.",
-    "Hold the roller for rolling on the table with hands.",
-    "Lift the roller shaped like cylinder from the table carefully.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Secure the narrow tapered roller using your arms.",
-    "Reach for the light wood roller and hold it firmly",
-    "Lift the palm-sized roller off the table with arms.",
-    "Take both arms to grasp the smooth light brown roller.",
-    "Secure the smooth light brown roller from the table using arms",
-    "Use arms to firmly grab the roller shaped like cylinder.",
-    "Take hold of the palm-sized roller with both arms.",
-    "Hold the roller shaped like cylinder from the table.",
-    "Grab the smooth cylindrical roller placed on the table.",
-    "Pick up the long slim roller from the table.",
-    "Securely grab the long slim roller using both arms.",
-    "Reach for the light wood roller and grab it firmly.",
-    "Lift the palm-sized roller off the table with both arms",
-    "Firmly grab the cylindrical roller using arms.",
-    "Lift the narrow tapered roller from its place on the table",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Take the narrow tapered roller directly from the table.",
-    "Pick up the smooth cylindrical roller using both arms.",
-    "Place hands on the roller shaped like cylinder and lift.",
-    "Use arms to hold the smooth light brown roller tightly."
-  ],
-  "unseen": [
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode19.json b/grab_roller/franka_clean/instructions/episode19.json
deleted file mode 100644
index 51d923c2eb5a724a8470ca351a41d4571ee0d143..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode19.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Lift the roller with smooth and shiny texture from the table.",
-    "Lift the wood roller with your arms.",
-    "Take hold of the roller with smooth and shiny texture using your arms.",
-    "Hold the cylindrical roller with tapered ends from the table.",
-    "Hold the light brown wooden roller on the table with hands.",
-    "Secure the medium-sized roller from the table using arms",
-    "Take the medium roller with narrower tips directly from the table.",
-    "Pick up the medium roller with narrower tips from the table directly.",
-    "Use arms to hold the roller for smoothing materials tightly.",
-    "Pick up the medium roller with narrower tips using both arms equally",
-    "Take hold of the roller for smoothing materials with both arms.",
-    "Reach out to grab the light brown roller from the table",
-    "Reach for the solid wood roller and hold it firmly",
-    "Take both arms to grasp the roller for smoothing materials.",
-    "Grab the solid wood roller placed on the table.",
-    "Use both arms to grab the palm-length roller.",
-    "Firmly grip the medium-sized roller on the table now.",
-    "Use both arms to grip the medium roller with narrower tips tightly.",
-    "Hold the light brown wooden roller firmly from the table.",
-    "Grasp the light brown roller firmly with arms.",
-    "Firmly grab the medium-sized roller using arms.",
-    "Grasp the roller for smoothing materials on the table with arms.",
-    "Secure the roller with polished surface using your arms.",
-    "Both arms should grab the medium-sized roller now.",
-    "Grip the wooden rolling tool firmly with arms.",
-    "Place hands on the medium roller with narrower tips and lift.",
-    "Lift the medium roller with narrower tips from its place on the table",
-    "Grasp the light brown roller firmly from the table.",
-    "Take hold of the medium-sized roller.",
-    "Hold the wood roller with both arms to pick it up",
-    "Bring both arms to grab the medium roller with narrower tips.",
-    "Secure the roller for smoothing materials with both arms.",
-    "Reach for the cylindrical roller with tapered ends and grab it firmly.",
-    "Lift the cylindrical roller with tapered ends from the table carefully.",
-    "Grasp the wooden rolling tool on the table.",
-    "Pick up the cylindrical roller with tapered ends from the table.",
-    "Get hold of the wooden rolling tool using your arms",
-    "Secure the cylindrical roller with tapered ends on the table using arms.",
-    "Lift the roller for smoothing materials off the table with both arms",
-    "Pick up the medium roller with narrower tips using both arms.",
-    "Take hold of the wood roller with arms.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Grab the cylindrical roller with tapered ends directly from the table.",
-    "Lift the medium-sized roller off the table with arms.",
-    "Securely grab the medium roller with narrower tips using both arms.",
-    "Lift the wood roller from the table.",
-    "Lift the roller for smoothing materials with your arms.",
-    "Take hold of the light brown wooden roller using your arms.",
-    "Hold the light brown wooden roller from the table.",
-    "Hold the palm-length roller on the table with hands.",
-    "Secure the medium-sized roller from the table using arms",
-    "Take the roller with smooth and shiny texture directly from the table.",
-    "Pick up the roller for smoothing materials from the table directly.",
-    "Use arms to hold the roller for smoothing materials tightly.",
-    "Pick up the roller for smoothing materials using both arms equally",
-    "Take hold of the roller for smoothing materials with both arms.",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Reach for the medium-sized roller and hold it firmly",
-    "Take both arms to grasp the cylindrical roller with tapered ends.",
-    "Grab the light brown roller placed on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Firmly grip the light brown wooden roller on the table now.",
-    "Use both arms to grip the medium roller with narrower tips tightly.",
-    "Hold the medium roller with narrower tips firmly from the table.",
-    "Grasp the roller with smooth and shiny texture firmly with arms.",
-    "Firmly grab the medium roller with narrower tips using arms.",
-    "Grasp the medium-sized roller on the table with arms.",
-    "Secure the light brown roller using your arms.",
-    "Both arms should grab the roller for smoothing materials now.",
-    "Grip the roller for smoothing materials firmly with arms.",
-    "Place hands on the wooden rolling tool and lift.",
-    "Lift the light brown roller from its place on the table",
-    "Grasp the wood roller firmly from the table.",
-    "Take hold of the roller for smoothing materials.",
-    "Hold the palm-length roller with both arms to pick it up",
-    "Bring both arms to grab the cylindrical roller with tapered ends.",
-    "Secure the palm-length roller with both arms.",
-    "Reach for the roller with polished surface and grab it firmly.",
-    "Lift the palm-length roller from the table carefully.",
-    "Grasp the cylindrical roller with tapered ends on the table.",
-    "Pick up the roller with smooth and shiny texture from the table.",
-    "Get hold of the roller for smoothing materials using your arms",
-    "Secure the roller with polished surface on the table using arms.",
-    "Lift the roller with smooth and shiny texture off the table with both arms",
-    "Pick up the wooden rolling tool using both arms.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Use arms to firmly grab the roller with polished surface.",
-    "Grab the wood roller directly from the table.",
-    "Lift the roller for smoothing materials off the table with arms.",
-    "Securely grab the palm-length roller using both arms.",
-    "Lift the solid wood roller from the table.",
-    "Lift the medium roller with narrower tips with your arms.",
-    "Take hold of the light brown wooden roller using your arms.",
-    "Hold the roller for smoothing materials from the table.",
-    "Hold the palm-length roller on the table with hands.",
-    "Secure the wooden rolling tool from the table using arms",
-    "Take the light brown wooden roller directly from the table.",
-    "Pick up the roller for smoothing materials from the table directly.",
-    "Use arms to hold the wooden rolling tool tightly.",
-    "Pick up the light brown wooden roller using both arms equally"
-  ],
-  "unseen": [
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode2.json b/grab_roller/franka_clean/instructions/episode2.json
deleted file mode 100644
index 2cfcd64a14573bd10a005dd74e49c871e9e9a1ac..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode2.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Get hold of the cylindrical roller using your arms",
-    "Grasp the narrow tapered roller on the table with arms.",
-    "Securely grab the slim wooden roller using both arms.",
-    "Pick up the slim wooden roller using both arms equally",
-    "Firmly grab the slim wooden roller using arms.",
-    "Lift the roller for rolling off the table with arms.",
-    "Grasp the smooth light brown roller firmly with arms.",
-    "Pick up the cylindrical roller using both arms.",
-    "Place hands on the cylindrical roller and lift.",
-    "Take hold of the cylindrical roller using your arms.",
-    "Reach for the roller for rolling and hold it firmly",
-    "Lift the smooth cylindrical roller from the table.",
-    "Hold the smooth cylindrical roller firmly from the table.",
-    "Hold the palm-sized roller from the table.",
-    "Use arms to hold the smooth cylindrical roller tightly.",
-    "Grab the roller with smooth texture directly from the table.",
-    "Lift the smooth light brown roller with your arms.",
-    "Take both arms to grasp the brown roller.",
-    "Grab the roller shaped like cylinder placed on the table.",
-    "Take the long slim roller directly from the table.",
-    "Take hold of the light wood roller with arms.",
-    "Pick up the slim wooden roller from the table directly.",
-    "Take hold of the smooth light brown roller.",
-    "Use arms to firmly grab the roller with smooth texture.",
-    "Hold the light wood roller with both arms to pick it up",
-    "Lift the smooth cylindrical roller from the table carefully.",
-    "Secure the brown roller from the table using arms",
-    "Use both arms to grab the narrow tapered roller.",
-    "Reach out to grab the light wood roller from the table",
-    "Grasp the narrow tapered roller on the table.",
-    "Use both arms to grip the smooth cylindrical roller tightly.",
-    "Grip the smooth cylindrical roller firmly with arms.",
-    "Grasp the roller for rolling firmly from the table.",
-    "Pick up the long slim roller from the table.",
-    "Lift the roller shaped like cylinder off the table with both arms",
-    "Lift the smooth cylindrical roller from its place on the table",
-    "Secure the slim wooden roller on the table using arms.",
-    "Secure the smooth cylindrical roller with both arms.",
-    "Firmly grip the slim wooden roller on the table now.",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Both arms should grab the brown roller now.",
-    "Take hold of the roller shaped like cylinder with both arms.",
-    "Hold the slim wooden roller on the table with hands.",
-    "Secure the slim wooden roller using your arms.",
-    "Reach for the smooth cylindrical roller and grab it firmly.",
-    "Get hold of the roller for rolling using your arms",
-    "Grasp the cylindrical roller on the table with arms.",
-    "Securely grab the palm-sized roller using both arms.",
-    "Pick up the smooth light brown roller using both arms equally",
-    "Firmly grab the smooth cylindrical roller using arms.",
-    "Lift the roller shaped like cylinder off the table with arms.",
-    "Grasp the smooth cylindrical roller firmly with arms.",
-    "Pick up the slim wooden roller using both arms.",
-    "Place hands on the narrow tapered roller and lift.",
-    "Take hold of the light wood roller using your arms.",
-    "Reach for the slim wooden roller and hold it firmly",
-    "Lift the cylindrical roller from the table.",
-    "Hold the long slim roller firmly from the table.",
-    "Hold the slim wooden roller from the table.",
-    "Use arms to hold the brown roller tightly.",
-    "Grab the palm-sized roller directly from the table.",
-    "Lift the narrow tapered roller with your arms.",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Grab the slim wooden roller placed on the table.",
-    "Take the light wood roller directly from the table.",
-    "Take hold of the cylindrical roller with arms.",
-    "Pick up the brown roller from the table directly.",
-    "Take hold of the smooth light brown roller.",
-    "Use arms to firmly grab the light wood roller.",
-    "Hold the narrow tapered roller with both arms to pick it up",
-    "Lift the narrow tapered roller from the table carefully.",
-    "Secure the light wood roller from the table using arms",
-    "Use both arms to grab the light wood roller.",
-    "Reach out to grab the smooth light brown roller from the table",
-    "Grasp the roller with smooth texture on the table.",
-    "Use both arms to grip the smooth light brown roller tightly.",
-    "Grip the narrow tapered roller firmly with arms.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Pick up the slim wooden roller from the table.",
-    "Lift the palm-sized roller off the table with both arms",
-    "Lift the smooth cylindrical roller from its place on the table",
-    "Secure the cylindrical roller on the table using arms.",
-    "Secure the light wood roller with both arms.",
-    "Firmly grip the cylindrical roller on the table now.",
-    "Bring both arms to grab the brown roller.",
-    "Both arms should grab the palm-sized roller now.",
-    "Take hold of the smooth cylindrical roller with both arms.",
-    "Hold the brown roller on the table with hands.",
-    "Secure the roller with smooth texture using your arms.",
-    "Reach for the light wood roller and grab it firmly.",
-    "Get hold of the long slim roller using your arms",
-    "Grasp the smooth light brown roller on the table with arms.",
-    "Securely grab the long slim roller using both arms.",
-    "Pick up the smooth light brown roller using both arms equally",
-    "Firmly grab the smooth cylindrical roller using arms.",
-    "Lift the smooth light brown roller off the table with arms.",
-    "Grasp the brown roller firmly with arms.",
-    "Pick up the light wood roller using both arms.",
-    "Place hands on the palm-sized roller and lift.",
-    "Take hold of the long slim roller using your arms."
-  ],
-  "unseen": [
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode20.json b/grab_roller/franka_clean/instructions/episode20.json
deleted file mode 100644
index c23c7c61fe33fc4767a0dea1f82f2971d7b1e3f2..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode20.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Hold the roller with smooth and shiny texture from the table.",
-    "Lift the light brown roller off the table with both arms",
-    "Secure the light brown roller with both arms.",
-    "Secure the roller with polished surface on the table using arms.",
-    "Place hands on the cylindrical roller with tapered ends and lift.",
-    "Use arms to hold the roller for smoothing materials tightly.",
-    "Pick up the wooden rolling tool using both arms.",
-    "Hold the wood roller on the table with hands.",
-    "Use both arms to grab the roller with polished surface.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Take the medium-sized roller directly from the table.",
-    "Take both arms to grasp the roller for smoothing materials.",
-    "Lift the light brown roller off the table with arms.",
-    "Reach for the medium-sized roller and grab it firmly.",
-    "Grab the palm-length roller directly from the table.",
-    "Pick up the wooden rolling tool from the table directly.",
-    "Firmly grip the wooden rolling tool on the table now.",
-    "Bring both arms to grab the roller for smoothing materials.",
-    "Reach out to grab the roller for smoothing materials from the table",
-    "Take hold of the roller with polished surface.",
-    "Take hold of the wooden rolling tool with both arms.",
-    "Grasp the roller with polished surface on the table.",
-    "Lift the roller with polished surface from the table.",
-    "Grab the light brown roller placed on the table.",
-    "Use both arms to grip the wooden rolling tool tightly.",
-    "Hold the medium roller with narrower tips with both arms to pick it up",
-    "Use arms to firmly grab the roller for smoothing materials.",
-    "Pick up the medium roller with narrower tips using both arms equally",
-    "Both arms should grab the solid wood roller now.",
-    "Take hold of the medium-sized roller using your arms.",
-    "Firmly grab the cylindrical roller with tapered ends using arms.",
-    "Get hold of the palm-length roller using your arms",
-    "Secure the light brown roller from the table using arms",
-    "Grasp the light brown roller firmly from the table.",
-    "Pick up the cylindrical roller with tapered ends from the table.",
-    "Lift the medium-sized roller with your arms.",
-    "Grasp the palm-length roller on the table with arms.",
-    "Grip the light brown roller firmly with arms.",
-    "Securely grab the medium-sized roller using both arms.",
-    "Reach for the light brown wooden roller and hold it firmly",
-    "Grasp the cylindrical roller with tapered ends firmly with arms.",
-    "Hold the light brown wooden roller firmly from the table.",
-    "Lift the cylindrical roller with tapered ends from the table carefully.",
-    "Secure the light brown wooden roller using your arms.",
-    "Lift the roller for smoothing materials from its place on the table",
-    "Hold the palm-length roller from the table.",
-    "Lift the roller with polished surface off the table with both arms",
-    "Secure the roller for smoothing materials with both arms.",
-    "Secure the wooden rolling tool on the table using arms.",
-    "Place hands on the light brown wooden roller and lift.",
-    "Use arms to hold the roller with smooth and shiny texture tightly.",
-    "Pick up the light brown roller using both arms.",
-    "Hold the medium roller with narrower tips on the table with hands.",
-    "Use both arms to grab the roller with smooth and shiny texture.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Take the medium roller with narrower tips directly from the table.",
-    "Take both arms to grasp the light brown roller.",
-    "Lift the palm-length roller off the table with arms.",
-    "Reach for the palm-length roller and grab it firmly.",
-    "Grab the wooden rolling tool directly from the table.",
-    "Pick up the light brown roller from the table directly.",
-    "Firmly grip the wooden rolling tool on the table now.",
-    "Bring both arms to grab the palm-length roller.",
-    "Reach out to grab the medium-sized roller from the table",
-    "Take hold of the wooden rolling tool.",
-    "Take hold of the cylindrical roller with tapered ends with both arms.",
-    "Grasp the medium roller with narrower tips on the table.",
-    "Lift the wooden rolling tool from the table.",
-    "Grab the medium roller with narrower tips placed on the table.",
-    "Use both arms to grip the light brown roller tightly.",
-    "Hold the palm-length roller with both arms to pick it up",
-    "Use arms to firmly grab the medium roller with narrower tips.",
-    "Pick up the roller with polished surface using both arms equally",
-    "Both arms should grab the cylindrical roller with tapered ends now.",
-    "Take hold of the roller with smooth and shiny texture using your arms.",
-    "Firmly grab the roller for smoothing materials using arms.",
-    "Get hold of the wooden rolling tool using your arms",
-    "Secure the light brown wooden roller from the table using arms",
-    "Grasp the palm-length roller firmly from the table.",
-    "Pick up the roller with polished surface from the table.",
-    "Lift the roller for smoothing materials with your arms.",
-    "Grasp the solid wood roller on the table with arms.",
-    "Grip the light brown roller firmly with arms.",
-    "Securely grab the light brown wooden roller using both arms.",
-    "Reach for the roller for smoothing materials and hold it firmly",
-    "Grasp the medium-sized roller firmly with arms.",
-    "Hold the light brown roller firmly from the table.",
-    "Lift the medium roller with narrower tips from the table carefully.",
-    "Secure the light brown roller using your arms.",
-    "Lift the roller with smooth and shiny texture from its place on the table",
-    "Hold the cylindrical roller with tapered ends from the table.",
-    "Lift the roller with smooth and shiny texture off the table with both arms",
-    "Secure the wooden rolling tool with both arms.",
-    "Secure the solid wood roller on the table using arms.",
-    "Place hands on the medium roller with narrower tips and lift.",
-    "Use arms to hold the wooden rolling tool tightly.",
-    "Pick up the roller for smoothing materials using both arms.",
-    "Hold the medium-sized roller on the table with hands.",
-    "Use both arms to grab the wooden rolling tool.",
-    "Take hold of the medium-sized roller with arms."
-  ],
-  "unseen": [
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode21.json b/grab_roller/franka_clean/instructions/episode21.json
deleted file mode 100644
index c77ab0d94e7ad61dd59a208f7f720be1443e0b37..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode21.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Use arms to firmly grab the long slim roller.",
-    "Grab the smooth light brown roller placed on the table.",
-    "Pick up the roller shaped like cylinder using both arms.",
-    "Lift the narrow tapered roller from the table carefully.",
-    "Grasp the palm-sized roller firmly from the table.",
-    "Pick up the smooth cylindrical roller from the table.",
-    "Hold the slim wooden roller firmly from the table.",
-    "Pick up the light wood roller from the table directly.",
-    "Take hold of the roller for rolling with arms.",
-    "Use arms to hold the smooth light brown roller tightly.",
-    "Take hold of the long slim roller using your arms.",
-    "Grab the roller for rolling directly from the table.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Take hold of the slim wooden roller with both arms.",
-    "Hold the brown roller from the table.",
-    "Grip the brown roller firmly with arms.",
-    "Lift the smooth light brown roller with your arms.",
-    "Reach out to grab the long slim roller from the table",
-    "Take the slim wooden roller directly from the table.",
-    "Pick up the smooth cylindrical roller using both arms equally",
-    "Hold the smooth cylindrical roller on the table with hands.",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Both arms should grab the smooth cylindrical roller now.",
-    "Secure the smooth light brown roller with both arms.",
-    "Lift the roller with smooth texture from its place on the table",
-    "Lift the light wood roller from the table.",
-    "Firmly grab the light wood roller using arms.",
-    "Hold the smooth light brown roller with both arms to pick it up",
-    "Take hold of the cylindrical roller.",
-    "Reach for the brown roller and hold it firmly",
-    "Use both arms to grip the brown roller tightly.",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Secure the slim wooden roller from the table using arms",
-    "Bring both arms to grab the palm-sized roller.",
-    "Place hands on the brown roller and lift.",
-    "Firmly grip the narrow tapered roller on the table now.",
-    "Grasp the cylindrical roller on the table with arms.",
-    "Lift the narrow tapered roller off the table with both arms",
-    "Get hold of the slim wooden roller using your arms",
-    "Securely grab the brown roller using both arms.",
-    "Lift the light wood roller off the table with arms.",
-    "Grasp the long slim roller on the table.",
-    "Reach for the cylindrical roller and grab it firmly.",
-    "Grasp the narrow tapered roller firmly with arms.",
-    "Use both arms to grab the roller for rolling.",
-    "Use arms to firmly grab the roller shaped like cylinder.",
-    "Grab the cylindrical roller placed on the table.",
-    "Pick up the cylindrical roller using both arms.",
-    "Lift the brown roller from the table carefully.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Pick up the slim wooden roller from the table.",
-    "Hold the long slim roller firmly from the table.",
-    "Pick up the smooth cylindrical roller from the table directly.",
-    "Take hold of the slim wooden roller with arms.",
-    "Use arms to hold the roller for rolling tightly.",
-    "Take hold of the narrow tapered roller using your arms.",
-    "Grab the roller for rolling directly from the table.",
-    "Secure the long slim roller on the table using arms.",
-    "Take hold of the smooth light brown roller with both arms.",
-    "Hold the smooth cylindrical roller from the table.",
-    "Grip the light wood roller firmly with arms.",
-    "Lift the long slim roller with your arms.",
-    "Reach out to grab the brown roller from the table",
-    "Take the light wood roller directly from the table.",
-    "Pick up the roller with smooth texture using both arms equally",
-    "Hold the smooth light brown roller on the table with hands.",
-    "Secure the long slim roller using your arms.",
-    "Both arms should grab the light wood roller now.",
-    "Secure the smooth light brown roller with both arms.",
-    "Lift the smooth cylindrical roller from its place on the table",
-    "Lift the palm-sized roller from the table.",
-    "Firmly grab the smooth cylindrical roller using arms.",
-    "Hold the slim wooden roller with both arms to pick it up",
-    "Take hold of the smooth light brown roller.",
-    "Reach for the brown roller and hold it firmly",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Take both arms to grasp the cylindrical roller.",
-    "Secure the roller with smooth texture from the table using arms",
-    "Bring both arms to grab the slim wooden roller.",
-    "Place hands on the narrow tapered roller and lift.",
-    "Firmly grip the light wood roller on the table now.",
-    "Grasp the roller shaped like cylinder on the table with arms.",
-    "Lift the palm-sized roller off the table with both arms",
-    "Get hold of the roller with smooth texture using your arms",
-    "Securely grab the smooth cylindrical roller using both arms.",
-    "Lift the light wood roller off the table with arms.",
-    "Grasp the smooth light brown roller on the table.",
-    "Reach for the roller with smooth texture and grab it firmly.",
-    "Grasp the roller shaped like cylinder firmly with arms.",
-    "Use both arms to grab the palm-sized roller.",
-    "Use arms to firmly grab the roller shaped like cylinder.",
-    "Grab the smooth cylindrical roller placed on the table.",
-    "Pick up the slim wooden roller using both arms.",
-    "Lift the roller for rolling from the table carefully.",
-    "Grasp the cylindrical roller firmly from the table.",
-    "Pick up the roller for rolling from the table.",
-    "Hold the roller for rolling firmly from the table.",
-    "Pick up the roller with smooth texture from the table directly.",
-    "Take hold of the long slim roller with arms.",
-    "Use arms to hold the roller for rolling tightly."
-  ],
-  "unseen": [
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the wooden roller."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode22.json b/grab_roller/franka_clean/instructions/episode22.json
deleted file mode 100644
index 47159bdf519a4c52702b72257ae193a9a7a76db0..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode22.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Use arms to hold the roller shaped like cylinder tightly.",
-    "Grip the long slim roller firmly with arms.",
-    "Get hold of the smooth light brown roller using your arms",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Hold the light wood roller firmly from the table.",
-    "Hold the light wood roller on the table with hands.",
-    "Lift the smooth cylindrical roller off the table with arms.",
-    "Grasp the roller shaped like cylinder on the table.",
-    "Reach for the brown roller and grab it firmly.",
-    "Lift the palm-sized roller with your arms.",
-    "Secure the roller for rolling on the table using arms.",
-    "Hold the roller shaped like cylinder with both arms to pick it up",
-    "Grasp the smooth light brown roller on the table with arms.",
-    "Hold the smooth light brown roller from the table.",
-    "Place hands on the narrow tapered roller and lift.",
-    "Take hold of the roller with smooth texture with arms.",
-    "Take the smooth light brown roller directly from the table.",
-    "Grab the brown roller directly from the table.",
-    "Take hold of the slim wooden roller.",
-    "Secure the smooth cylindrical roller with both arms.",
-    "Pick up the long slim roller from the table.",
-    "Use both arms to grab the roller for rolling.",
-    "Both arms should grab the roller shaped like cylinder now.",
-    "Reach for the brown roller and hold it firmly",
-    "Secure the roller for rolling from the table using arms",
-    "Pick up the brown roller using both arms equally",
-    "Bring both arms to grab the cylindrical roller.",
-    "Firmly grip the long slim roller on the table now.",
-    "Grasp the smooth cylindrical roller firmly from the table.",
-    "Lift the smooth light brown roller from its place on the table",
-    "Lift the smooth cylindrical roller off the table with both arms",
-    "Grasp the roller shaped like cylinder firmly with arms.",
-    "Pick up the roller with smooth texture using both arms.",
-    "Securely grab the smooth light brown roller using both arms.",
-    "Take hold of the roller shaped like cylinder using your arms.",
-    "Use arms to firmly grab the brown roller.",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Pick up the long slim roller from the table directly.",
-    "Grab the long slim roller placed on the table.",
-    "Reach out to grab the smooth light brown roller from the table",
-    "Lift the smooth cylindrical roller from the table carefully.",
-    "Firmly grab the roller with smooth texture using arms.",
-    "Take hold of the long slim roller with both arms.",
-    "Lift the light wood roller from the table.",
-    "Secure the slim wooden roller using your arms.",
-    "Use arms to hold the roller for rolling tightly.",
-    "Grip the roller for rolling firmly with arms.",
-    "Get hold of the cylindrical roller using your arms",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Hold the slim wooden roller firmly from the table.",
-    "Hold the long slim roller on the table with hands.",
-    "Lift the roller shaped like cylinder off the table with arms.",
-    "Grasp the smooth light brown roller on the table.",
-    "Reach for the roller shaped like cylinder and grab it firmly.",
-    "Lift the cylindrical roller with your arms.",
-    "Secure the smooth light brown roller on the table using arms.",
-    "Hold the long slim roller with both arms to pick it up",
-    "Grasp the roller shaped like cylinder on the table with arms.",
-    "Hold the slim wooden roller from the table.",
-    "Place hands on the smooth light brown roller and lift.",
-    "Take hold of the smooth light brown roller with arms.",
-    "Take the narrow tapered roller directly from the table.",
-    "Grab the brown roller directly from the table.",
-    "Take hold of the narrow tapered roller.",
-    "Secure the cylindrical roller with both arms.",
-    "Pick up the palm-sized roller from the table.",
-    "Use both arms to grab the smooth light brown roller.",
-    "Both arms should grab the light wood roller now.",
-    "Reach for the long slim roller and hold it firmly",
-    "Secure the slim wooden roller from the table using arms",
-    "Pick up the smooth light brown roller using both arms equally",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Firmly grip the palm-sized roller on the table now.",
-    "Grasp the palm-sized roller firmly from the table.",
-    "Lift the narrow tapered roller from its place on the table",
-    "Lift the roller with smooth texture off the table with both arms",
-    "Grasp the brown roller firmly with arms.",
-    "Pick up the light wood roller using both arms.",
-    "Securely grab the light wood roller using both arms.",
-    "Take hold of the brown roller using your arms.",
-    "Use arms to firmly grab the roller for rolling.",
-    "Take both arms to grasp the roller shaped like cylinder.",
-    "Pick up the brown roller from the table directly.",
-    "Grab the light wood roller placed on the table.",
-    "Reach out to grab the roller with smooth texture from the table",
-    "Lift the roller for rolling from the table carefully.",
-    "Firmly grab the roller shaped like cylinder using arms.",
-    "Take hold of the narrow tapered roller with both arms.",
-    "Lift the roller for rolling from the table.",
-    "Secure the narrow tapered roller using your arms.",
-    "Use arms to hold the roller with smooth texture tightly.",
-    "Grip the long slim roller firmly with arms.",
-    "Get hold of the palm-sized roller using your arms",
-    "Use both arms to grip the roller with smooth texture tightly.",
-    "Hold the smooth cylindrical roller firmly from the table.",
-    "Hold the roller for rolling on the table with hands.",
-    "Lift the roller for rolling off the table with arms.",
-    "Grasp the roller shaped like cylinder on the table.",
-    "Reach for the smooth cylindrical roller and grab it firmly.",
-    "Lift the roller shaped like cylinder with your arms."
-  ],
-  "unseen": [
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode23.json b/grab_roller/franka_clean/instructions/episode23.json
deleted file mode 100644
index 25f2a8158502171441bfc2a3fa63c9a7dd85dfb2..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode23.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Firmly grip the cylindrical roller on the table now.",
-    "Hold the smooth light brown roller with both arms to pick it up",
-    "Use both arms to grab the roller with smooth texture.",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Reach out to grab the long slim roller from the table",
-    "Use arms to firmly grab the smooth light brown roller.",
-    "Grasp the smooth cylindrical roller firmly with arms.",
-    "Securely grab the smooth light brown roller using both arms.",
-    "Lift the roller for rolling with your arms.",
-    "Take the slim wooden roller directly from the table.",
-    "Grasp the brown roller firmly from the table.",
-    "Lift the light wood roller off the table with both arms",
-    "Secure the cylindrical roller from the table using arms",
-    "Secure the smooth light brown roller on the table using arms.",
-    "Lift the slim wooden roller from the table.",
-    "Hold the slim wooden roller from the table.",
-    "Grab the roller shaped like cylinder placed on the table.",
-    "Grip the narrow tapered roller firmly with arms.",
-    "Take hold of the roller for rolling using your arms.",
-    "Place hands on the roller shaped like cylinder and lift.",
-    "Pick up the roller shaped like cylinder from the table.",
-    "Firmly grab the narrow tapered roller using arms.",
-    "Lift the long slim roller off the table with arms.",
-    "Grasp the smooth cylindrical roller on the table.",
-    "Hold the roller for rolling firmly from the table.",
-    "Use arms to hold the smooth light brown roller tightly.",
-    "Take hold of the brown roller.",
-    "Get hold of the palm-sized roller using your arms",
-    "Reach for the palm-sized roller and grab it firmly.",
-    "Pick up the slim wooden roller from the table directly.",
-    "Grasp the brown roller on the table with arms.",
-    "Both arms should grab the roller with smooth texture now.",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Pick up the long slim roller using both arms equally",
-    "Lift the roller with smooth texture from the table carefully.",
-    "Secure the brown roller with both arms.",
-    "Grab the brown roller directly from the table.",
-    "Pick up the smooth cylindrical roller using both arms.",
-    "Reach for the narrow tapered roller and hold it firmly",
-    "Hold the palm-sized roller on the table with hands.",
-    "Lift the brown roller from its place on the table",
-    "Take hold of the light wood roller with arms.",
-    "Take both arms to grasp the palm-sized roller.",
-    "Secure the cylindrical roller using your arms.",
-    "Take hold of the roller for rolling with both arms.",
-    "Firmly grip the smooth cylindrical roller on the table now.",
-    "Hold the slim wooden roller with both arms to pick it up",
-    "Use both arms to grab the smooth light brown roller.",
-    "Bring both arms to grab the narrow tapered roller.",
-    "Reach out to grab the narrow tapered roller from the table",
-    "Use arms to firmly grab the narrow tapered roller.",
-    "Grasp the roller shaped like cylinder firmly with arms.",
-    "Securely grab the long slim roller using both arms.",
-    "Lift the smooth light brown roller with your arms.",
-    "Take the roller for rolling directly from the table.",
-    "Grasp the long slim roller firmly from the table.",
-    "Lift the smooth light brown roller off the table with both arms",
-    "Secure the long slim roller from the table using arms",
-    "Secure the long slim roller on the table using arms.",
-    "Lift the cylindrical roller from the table.",
-    "Hold the smooth light brown roller from the table.",
-    "Grab the slim wooden roller placed on the table.",
-    "Grip the brown roller firmly with arms.",
-    "Take hold of the roller for rolling using your arms.",
-    "Place hands on the long slim roller and lift.",
-    "Pick up the slim wooden roller from the table.",
-    "Firmly grab the palm-sized roller using arms.",
-    "Lift the brown roller off the table with arms.",
-    "Grasp the narrow tapered roller on the table.",
-    "Hold the smooth light brown roller firmly from the table.",
-    "Use arms to hold the roller shaped like cylinder tightly.",
-    "Take hold of the roller with smooth texture.",
-    "Get hold of the roller shaped like cylinder using your arms",
-    "Reach for the slim wooden roller and grab it firmly.",
-    "Pick up the long slim roller from the table directly.",
-    "Grasp the narrow tapered roller on the table with arms.",
-    "Both arms should grab the long slim roller now.",
-    "Use both arms to grip the palm-sized roller tightly.",
-    "Pick up the cylindrical roller using both arms equally",
-    "Lift the smooth light brown roller from the table carefully.",
-    "Secure the roller shaped like cylinder with both arms.",
-    "Grab the smooth light brown roller directly from the table.",
-    "Pick up the narrow tapered roller using both arms.",
-    "Reach for the palm-sized roller and hold it firmly",
-    "Hold the slim wooden roller on the table with hands.",
-    "Lift the roller with smooth texture from its place on the table",
-    "Take hold of the roller with smooth texture with arms.",
-    "Take both arms to grasp the cylindrical roller.",
-    "Secure the roller with smooth texture using your arms.",
-    "Take hold of the narrow tapered roller with both arms.",
-    "Firmly grip the cylindrical roller on the table now.",
-    "Hold the long slim roller with both arms to pick it up",
-    "Use both arms to grab the slim wooden roller.",
-    "Bring both arms to grab the cylindrical roller.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Use arms to firmly grab the roller for rolling.",
-    "Grasp the slim wooden roller firmly with arms.",
-    "Securely grab the roller shaped like cylinder using both arms.",
-    "Lift the narrow tapered roller with your arms.",
-    "Take the slim wooden roller directly from the table."
-  ],
-  "unseen": [
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode24.json b/grab_roller/franka_clean/instructions/episode24.json
deleted file mode 100644
index 5b9163bea5a05c93ea7e4916105a2b786ba6d016..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode24.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Bring both arms to grab the medium roller with narrower tips.",
-    "Reach for the light brown roller and grab it firmly.",
-    "Take the roller with polished surface directly from the table.",
-    "Place hands on the palm-length roller and lift.",
-    "Take hold of the cylindrical roller with tapered ends with arms.",
-    "Firmly grab the roller with smooth and shiny texture using arms.",
-    "Pick up the cylindrical roller with tapered ends using both arms.",
-    "Use both arms to grip the light brown roller tightly.",
-    "Reach out to grab the roller for smoothing materials from the table",
-    "Grab the medium roller with narrower tips directly from the table.",
-    "Take hold of the light brown wooden roller with both arms.",
-    "Hold the medium-sized roller on the table with hands.",
-    "Pick up the wood roller from the table directly.",
-    "Lift the wood roller from its place on the table",
-    "Lift the roller with smooth and shiny texture off the table with both arms",
-    "Lift the palm-length roller with your arms.",
-    "Take hold of the roller for smoothing materials.",
-    "Grasp the palm-length roller firmly with arms.",
-    "Grasp the roller with polished surface on the table.",
-    "Firmly grip the roller for smoothing materials on the table now.",
-    "Lift the roller with smooth and shiny texture from the table carefully.",
-    "Grasp the wooden rolling tool firmly from the table.",
-    "Grab the medium roller with narrower tips placed on the table.",
-    "Pick up the light brown roller from the table.",
-    "Secure the roller with polished surface with both arms.",
-    "Secure the palm-length roller from the table using arms",
-    "Pick up the roller with polished surface using both arms equally",
-    "Securely grab the medium roller with narrower tips using both arms.",
-    "Secure the palm-length roller on the table using arms.",
-    "Get hold of the roller with polished surface using your arms",
-    "Take hold of the roller for smoothing materials using your arms.",
-    "Use both arms to grab the wood roller.",
-    "Grasp the light brown wooden roller on the table with arms.",
-    "Lift the wood roller from the table.",
-    "Take both arms to grasp the roller for smoothing materials.",
-    "Hold the light brown wooden roller with both arms to pick it up",
-    "Both arms should grab the wooden rolling tool now.",
-    "Hold the light brown roller firmly from the table.",
-    "Lift the wooden rolling tool off the table with arms.",
-    "Use arms to hold the roller with smooth and shiny texture tightly.",
-    "Reach for the wood roller and hold it firmly",
-    "Secure the cylindrical roller with tapered ends using your arms.",
-    "Hold the medium roller with narrower tips from the table.",
-    "Use arms to firmly grab the wooden rolling tool.",
-    "Grip the medium-sized roller firmly with arms.",
-    "Bring both arms to grab the wooden rolling tool.",
-    "Reach for the light brown roller and grab it firmly.",
-    "Take the medium roller with narrower tips directly from the table.",
-    "Place hands on the palm-length roller and lift.",
-    "Take hold of the palm-length roller with arms.",
-    "Firmly grab the wooden rolling tool using arms.",
-    "Pick up the roller for smoothing materials using both arms.",
-    "Use both arms to grip the palm-length roller tightly.",
-    "Reach out to grab the wood roller from the table",
-    "Grab the palm-length roller directly from the table.",
-    "Take hold of the light brown roller with both arms.",
-    "Hold the wooden rolling tool on the table with hands.",
-    "Pick up the roller with polished surface from the table directly.",
-    "Lift the palm-length roller from its place on the table",
-    "Lift the roller with polished surface off the table with both arms",
-    "Lift the roller with polished surface with your arms.",
-    "Take hold of the light brown wooden roller.",
-    "Grasp the palm-length roller firmly with arms.",
-    "Grasp the roller with smooth and shiny texture on the table.",
-    "Firmly grip the cylindrical roller with tapered ends on the table now.",
-    "Lift the palm-length roller from the table carefully.",
-    "Grasp the roller for smoothing materials firmly from the table.",
-    "Grab the light brown roller placed on the table.",
-    "Pick up the light brown wooden roller from the table.",
-    "Secure the medium roller with narrower tips with both arms.",
-    "Secure the medium-sized roller from the table using arms",
-    "Pick up the light brown wooden roller using both arms equally",
-    "Securely grab the roller for smoothing materials using both arms.",
-    "Secure the cylindrical roller with tapered ends on the table using arms.",
-    "Get hold of the roller with smooth and shiny texture using your arms",
-    "Take hold of the palm-length roller using your arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grasp the medium roller with narrower tips on the table with arms.",
-    "Lift the light brown roller from the table.",
-    "Take both arms to grasp the wooden rolling tool.",
-    "Hold the palm-length roller with both arms to pick it up",
-    "Both arms should grab the medium roller with narrower tips now.",
-    "Hold the roller with smooth and shiny texture firmly from the table.",
-    "Lift the roller with polished surface off the table with arms.",
-    "Use arms to hold the palm-length roller tightly.",
-    "Reach for the wood roller and hold it firmly",
-    "Secure the cylindrical roller with tapered ends using your arms.",
-    "Hold the medium-sized roller from the table.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Grip the roller with smooth and shiny texture firmly with arms.",
-    "Bring both arms to grab the wood roller.",
-    "Reach for the medium-sized roller and grab it firmly.",
-    "Take the roller with polished surface directly from the table.",
-    "Place hands on the solid wood roller and lift.",
-    "Take hold of the light brown roller with arms.",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Pick up the roller for smoothing materials using both arms.",
-    "Use both arms to grip the palm-length roller tightly.",
-    "Reach out to grab the palm-length roller from the table",
-    "Grab the roller with smooth and shiny texture directly from the table."
-  ],
-  "unseen": [
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode25.json b/grab_roller/franka_clean/instructions/episode25.json
deleted file mode 100644
index e045daf8d29888adb0542826d2c064cd3c143383..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode25.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Both arms should grab the brown roller now.",
-    "Grasp the cylindrical roller firmly with arms.",
-    "Take hold of the smooth light brown roller.",
-    "Lift the brown roller off the table with arms.",
-    "Take hold of the roller with smooth texture with arms.",
-    "Lift the cylindrical roller from the table carefully.",
-    "Grab the smooth light brown roller placed on the table.",
-    "Bring both arms to grab the brown roller.",
-    "Reach for the smooth light brown roller and hold it firmly",
-    "Use arms to firmly grab the roller with smooth texture.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Reach for the slim wooden roller and grab it firmly.",
-    "Pick up the slim wooden roller using both arms.",
-    "Get hold of the brown roller using your arms",
-    "Place hands on the smooth light brown roller and lift.",
-    "Hold the brown roller on the table with hands.",
-    "Take the roller shaped like cylinder directly from the table.",
-    "Hold the narrow tapered roller from the table.",
-    "Secure the smooth cylindrical roller using your arms.",
-    "Lift the roller with smooth texture with your arms.",
-    "Lift the smooth light brown roller from its place on the table",
-    "Hold the slim wooden roller with both arms to pick it up",
-    "Take both arms to grasp the slim wooden roller.",
-    "Pick up the palm-sized roller from the table directly.",
-    "Grasp the roller for rolling on the table with arms.",
-    "Use both arms to grip the narrow tapered roller tightly.",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Secure the slim wooden roller with both arms.",
-    "Firmly grab the roller shaped like cylinder using arms.",
-    "Lift the palm-sized roller from the table.",
-    "Lift the slim wooden roller off the table with both arms",
-    "Use both arms to grab the cylindrical roller.",
-    "Take hold of the smooth cylindrical roller with both arms.",
-    "Pick up the roller for rolling from the table.",
-    "Secure the narrow tapered roller on the table using arms.",
-    "Take hold of the slim wooden roller using your arms.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Secure the light wood roller from the table using arms",
-    "Grab the roller for rolling directly from the table.",
-    "Securely grab the roller with smooth texture using both arms.",
-    "Grasp the brown roller on the table.",
-    "Grip the smooth light brown roller firmly with arms.",
-    "Pick up the brown roller using both arms equally",
-    "Use arms to hold the roller for rolling tightly.",
-    "Hold the narrow tapered roller firmly from the table.",
-    "Both arms should grab the narrow tapered roller now.",
-    "Grasp the long slim roller firmly with arms.",
-    "Take hold of the roller with smooth texture.",
-    "Lift the brown roller off the table with arms.",
-    "Take hold of the brown roller with arms.",
-    "Lift the roller with smooth texture from the table carefully.",
-    "Grab the roller for rolling placed on the table.",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Reach for the long slim roller and hold it firmly",
-    "Use arms to firmly grab the smooth light brown roller.",
-    "Reach out to grab the light wood roller from the table",
-    "Reach for the roller with smooth texture and grab it firmly.",
-    "Pick up the cylindrical roller using both arms.",
-    "Get hold of the narrow tapered roller using your arms",
-    "Place hands on the narrow tapered roller and lift.",
-    "Hold the narrow tapered roller on the table with hands.",
-    "Take the smooth cylindrical roller directly from the table.",
-    "Hold the cylindrical roller from the table.",
-    "Secure the light wood roller using your arms.",
-    "Lift the roller with smooth texture with your arms.",
-    "Lift the smooth light brown roller from its place on the table",
-    "Hold the brown roller with both arms to pick it up",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Pick up the slim wooden roller from the table directly.",
-    "Grasp the long slim roller on the table with arms.",
-    "Use both arms to grip the smooth cylindrical roller tightly.",
-    "Firmly grip the roller for rolling on the table now.",
-    "Secure the roller shaped like cylinder with both arms.",
-    "Firmly grab the long slim roller using arms.",
-    "Lift the roller with smooth texture from the table.",
-    "Lift the smooth cylindrical roller off the table with both arms",
-    "Use both arms to grab the slim wooden roller.",
-    "Take hold of the cylindrical roller with both arms.",
-    "Pick up the slim wooden roller from the table.",
-    "Secure the palm-sized roller on the table using arms.",
-    "Take hold of the light wood roller using your arms.",
-    "Grasp the smooth light brown roller firmly from the table.",
-    "Secure the palm-sized roller from the table using arms",
-    "Grab the brown roller directly from the table.",
-    "Securely grab the light wood roller using both arms.",
-    "Grasp the slim wooden roller on the table.",
-    "Grip the narrow tapered roller firmly with arms.",
-    "Pick up the narrow tapered roller using both arms equally",
-    "Use arms to hold the palm-sized roller tightly.",
-    "Hold the palm-sized roller firmly from the table.",
-    "Both arms should grab the roller shaped like cylinder now.",
-    "Grasp the roller with smooth texture firmly with arms.",
-    "Take hold of the smooth cylindrical roller.",
-    "Lift the palm-sized roller off the table with arms.",
-    "Take hold of the roller with smooth texture with arms.",
-    "Lift the palm-sized roller from the table carefully.",
-    "Grab the slim wooden roller placed on the table.",
-    "Bring both arms to grab the roller with smooth texture.",
-    "Reach for the smooth cylindrical roller and hold it firmly",
-    "Use arms to firmly grab the long slim roller."
-  ],
-  "unseen": [
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode26.json b/grab_roller/franka_clean/instructions/episode26.json
deleted file mode 100644
index c97918e436e9961e61a23b8bf64f94a92b3d696f..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode26.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Grab the roller for rolling placed on the table.",
-    "Take hold of the roller for rolling.",
-    "Pick up the smooth cylindrical roller using both arms equally",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Place hands on the slim wooden roller and lift.",
-    "Grasp the narrow tapered roller on the table.",
-    "Reach for the roller for rolling and hold it firmly",
-    "Lift the smooth light brown roller with your arms.",
-    "Grasp the smooth cylindrical roller firmly from the table.",
-    "Pick up the cylindrical roller using both arms.",
-    "Use both arms to grab the smooth light brown roller.",
-    "Secure the long slim roller on the table using arms.",
-    "Lift the roller for rolling off the table with arms.",
-    "Lift the palm-sized roller from its place on the table",
-    "Pick up the brown roller from the table directly.",
-    "Secure the long slim roller with both arms.",
-    "Use arms to hold the long slim roller tightly.",
-    "Lift the smooth cylindrical roller from the table.",
-    "Grasp the palm-sized roller firmly with arms.",
-    "Secure the roller with smooth texture using your arms.",
-    "Firmly grip the narrow tapered roller on the table now.",
-    "Reach for the light wood roller and grab it firmly.",
-    "Take the palm-sized roller directly from the table.",
-    "Grab the narrow tapered roller directly from the table.",
-    "Hold the roller shaped like cylinder from the table.",
-    "Grasp the roller shaped like cylinder on the table with arms.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Lift the palm-sized roller from the table carefully.",
-    "Take hold of the palm-sized roller with both arms.",
-    "Both arms should grab the roller shaped like cylinder now.",
-    "Pick up the slim wooden roller from the table.",
-    "Lift the narrow tapered roller off the table with both arms",
-    "Take hold of the roller with smooth texture using your arms.",
-    "Hold the slim wooden roller with both arms to pick it up",
-    "Hold the long slim roller on the table with hands.",
-    "Hold the smooth cylindrical roller firmly from the table.",
-    "Take hold of the palm-sized roller with arms.",
-    "Bring both arms to grab the long slim roller.",
-    "Grip the roller with smooth texture firmly with arms.",
-    "Take both arms to grasp the cylindrical roller.",
-    "Use arms to firmly grab the roller with smooth texture.",
-    "Secure the narrow tapered roller from the table using arms",
-    "Securely grab the roller for rolling using both arms.",
-    "Get hold of the long slim roller using your arms",
-    "Firmly grab the long slim roller using arms.",
-    "Grab the light wood roller placed on the table.",
-    "Take hold of the palm-sized roller.",
-    "Pick up the light wood roller using both arms equally",
-    "Reach out to grab the light wood roller from the table",
-    "Place hands on the smooth light brown roller and lift.",
-    "Grasp the roller shaped like cylinder on the table.",
-    "Reach for the smooth light brown roller and hold it firmly",
-    "Lift the narrow tapered roller with your arms.",
-    "Grasp the light wood roller firmly from the table.",
-    "Pick up the roller with smooth texture using both arms.",
-    "Use both arms to grab the brown roller.",
-    "Secure the long slim roller on the table using arms.",
-    "Lift the palm-sized roller off the table with arms.",
-    "Lift the roller for rolling from its place on the table",
-    "Pick up the roller shaped like cylinder from the table directly.",
-    "Secure the palm-sized roller with both arms.",
-    "Use arms to hold the long slim roller tightly.",
-    "Lift the light wood roller from the table.",
-    "Grasp the narrow tapered roller firmly with arms.",
-    "Secure the cylindrical roller using your arms.",
-    "Firmly grip the roller with smooth texture on the table now.",
-    "Reach for the roller shaped like cylinder and grab it firmly.",
-    "Take the light wood roller directly from the table.",
-    "Grab the roller shaped like cylinder directly from the table.",
-    "Hold the brown roller from the table.",
-    "Grasp the roller for rolling on the table with arms.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Lift the smooth light brown roller from the table carefully.",
-    "Take hold of the palm-sized roller with both arms.",
-    "Both arms should grab the roller with smooth texture now.",
-    "Pick up the roller for rolling from the table.",
-    "Lift the palm-sized roller off the table with both arms",
-    "Take hold of the slim wooden roller using your arms.",
-    "Hold the palm-sized roller with both arms to pick it up",
-    "Hold the brown roller on the table with hands.",
-    "Hold the brown roller firmly from the table.",
-    "Take hold of the cylindrical roller with arms.",
-    "Bring both arms to grab the smooth light brown roller.",
-    "Grip the light wood roller firmly with arms.",
-    "Take both arms to grasp the roller shaped like cylinder.",
-    "Use arms to firmly grab the palm-sized roller.",
-    "Secure the smooth cylindrical roller from the table using arms",
-    "Securely grab the brown roller using both arms.",
-    "Get hold of the long slim roller using your arms",
-    "Firmly grab the long slim roller using arms.",
-    "Grab the narrow tapered roller placed on the table.",
-    "Take hold of the palm-sized roller.",
-    "Pick up the brown roller using both arms equally",
-    "Reach out to grab the light wood roller from the table",
-    "Place hands on the roller with smooth texture and lift.",
-    "Grasp the smooth light brown roller on the table.",
-    "Reach for the cylindrical roller and hold it firmly",
-    "Lift the smooth light brown roller with your arms.",
-    "Grasp the brown roller firmly from the table.",
-    "Pick up the slim wooden roller using both arms."
-  ],
-  "unseen": [
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode27.json b/grab_roller/franka_clean/instructions/episode27.json
deleted file mode 100644
index c8163c07643e792a68d215f9e12b5ea3cfc43f88..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode27.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Secure the roller with smooth and shiny texture using your arms.",
-    "Reach for the wood roller and hold it firmly",
-    "Use both arms to grip the roller for smoothing materials tightly.",
-    "Lift the light brown roller from its place on the table",
-    "Place hands on the wooden rolling tool and lift.",
-    "Grasp the palm-length roller on the table with arms.",
-    "Firmly grab the roller with smooth and shiny texture using arms.",
-    "Hold the wooden rolling tool from the table.",
-    "Grasp the cylindrical roller with tapered ends firmly with arms.",
-    "Pick up the light brown wooden roller from the table directly.",
-    "Take the light brown roller directly from the table.",
-    "Take hold of the medium-sized roller using your arms.",
-    "Take hold of the wooden rolling tool.",
-    "Lift the solid wood roller off the table with arms.",
-    "Get hold of the light brown roller using your arms",
-    "Take hold of the wood roller with arms.",
-    "Securely grab the cylindrical roller with tapered ends using both arms.",
-    "Secure the roller with polished surface from the table using arms",
-    "Grip the light brown roller firmly with arms.",
-    "Both arms should grab the roller with polished surface now.",
-    "Take both arms to grasp the medium-sized roller.",
-    "Secure the light brown wooden roller with both arms.",
-    "Grasp the wooden rolling tool firmly from the table.",
-    "Lift the roller with smooth and shiny texture from the table carefully.",
-    "Use arms to firmly grab the roller for smoothing materials.",
-    "Grab the wood roller directly from the table.",
-    "Lift the palm-length roller with your arms.",
-    "Hold the wood roller with both arms to pick it up",
-    "Reach for the roller with smooth and shiny texture and grab it firmly.",
-    "Reach out to grab the wood roller from the table",
-    "Take hold of the light brown roller with both arms.",
-    "Hold the wooden rolling tool on the table with hands.",
-    "Firmly grip the light brown roller on the table now.",
-    "Pick up the solid wood roller using both arms.",
-    "Pick up the roller with smooth and shiny texture from the table.",
-    "Secure the medium roller with narrower tips on the table using arms.",
-    "Grab the solid wood roller placed on the table.",
-    "Use arms to hold the wooden rolling tool tightly.",
-    "Bring both arms to grab the light brown roller.",
-    "Lift the roller with polished surface from the table.",
-    "Use both arms to grab the wooden rolling tool.",
-    "Lift the roller for smoothing materials off the table with both arms",
-    "Hold the roller for smoothing materials firmly from the table.",
-    "Grasp the palm-length roller on the table.",
-    "Pick up the roller with smooth and shiny texture using both arms equally",
-    "Secure the medium roller with narrower tips using your arms.",
-    "Reach for the wooden rolling tool and hold it firmly",
-    "Use both arms to grip the medium-sized roller tightly.",
-    "Lift the wood roller from its place on the table",
-    "Place hands on the roller with polished surface and lift.",
-    "Grasp the roller for smoothing materials on the table with arms.",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Hold the roller for smoothing materials from the table.",
-    "Grasp the cylindrical roller with tapered ends firmly with arms.",
-    "Pick up the cylindrical roller with tapered ends from the table directly.",
-    "Take the roller with smooth and shiny texture directly from the table.",
-    "Take hold of the light brown roller using your arms.",
-    "Take hold of the roller with polished surface.",
-    "Lift the wooden rolling tool off the table with arms.",
-    "Get hold of the solid wood roller using your arms",
-    "Take hold of the roller with smooth and shiny texture with arms.",
-    "Securely grab the solid wood roller using both arms.",
-    "Secure the medium-sized roller from the table using arms",
-    "Grip the cylindrical roller with tapered ends firmly with arms.",
-    "Both arms should grab the roller for smoothing materials now.",
-    "Take both arms to grasp the light brown wooden roller.",
-    "Secure the medium-sized roller with both arms.",
-    "Grasp the wooden rolling tool firmly from the table.",
-    "Lift the wooden rolling tool from the table carefully.",
-    "Use arms to firmly grab the light brown roller.",
-    "Grab the medium roller with narrower tips directly from the table.",
-    "Lift the light brown roller with your arms.",
-    "Hold the medium-sized roller with both arms to pick it up",
-    "Reach for the roller with smooth and shiny texture and grab it firmly.",
-    "Reach out to grab the light brown wooden roller from the table",
-    "Take hold of the roller for smoothing materials with both arms.",
-    "Hold the cylindrical roller with tapered ends on the table with hands.",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Pick up the cylindrical roller with tapered ends using both arms.",
-    "Pick up the roller with smooth and shiny texture from the table.",
-    "Secure the medium roller with narrower tips on the table using arms.",
-    "Grab the solid wood roller placed on the table.",
-    "Use arms to hold the solid wood roller tightly.",
-    "Bring both arms to grab the palm-length roller.",
-    "Lift the palm-length roller from the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Lift the roller with polished surface off the table with both arms",
-    "Hold the solid wood roller firmly from the table.",
-    "Grasp the roller with smooth and shiny texture on the table.",
-    "Pick up the wood roller using both arms equally",
-    "Secure the wooden rolling tool using your arms.",
-    "Reach for the cylindrical roller with tapered ends and hold it firmly",
-    "Use both arms to grip the solid wood roller tightly.",
-    "Lift the cylindrical roller with tapered ends from its place on the table",
-    "Place hands on the light brown roller and lift.",
-    "Grasp the solid wood roller on the table with arms.",
-    "Firmly grab the roller with smooth and shiny texture using arms.",
-    "Hold the roller with smooth and shiny texture from the table.",
-    "Grasp the light brown wooden roller firmly with arms.",
-    "Pick up the cylindrical roller with tapered ends from the table directly."
-  ],
-  "unseen": [
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode28.json b/grab_roller/franka_clean/instructions/episode28.json
deleted file mode 100644
index 2c5346892a05f87a2a32c8e04e2c252d1089d001..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode28.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Take hold of the long slim roller using your arms.",
-    "Lift the roller shaped like cylinder off the table with both arms",
-    "Grasp the roller with smooth texture on the table with arms.",
-    "Firmly grab the slim wooden roller using arms.",
-    "Securely grab the slim wooden roller using both arms.",
-    "Reach out to grab the long slim roller from the table",
-    "Take hold of the cylindrical roller.",
-    "Place hands on the long slim roller and lift.",
-    "Pick up the light wood roller using both arms equally",
-    "Lift the roller with smooth texture off the table with arms.",
-    "Grab the roller with smooth texture placed on the table.",
-    "Lift the light wood roller from the table carefully.",
-    "Secure the palm-sized roller using your arms.",
-    "Lift the roller for rolling with your arms.",
-    "Take the cylindrical roller directly from the table.",
-    "Pick up the roller for rolling using both arms.",
-    "Pick up the roller with smooth texture from the table.",
-    "Take hold of the cylindrical roller with both arms.",
-    "Grab the smooth light brown roller directly from the table.",
-    "Hold the narrow tapered roller on the table with hands.",
-    "Lift the narrow tapered roller from the table.",
-    "Secure the long slim roller on the table using arms.",
-    "Grasp the smooth light brown roller firmly with arms.",
-    "Take hold of the light wood roller with arms.",
-    "Use both arms to grab the slim wooden roller.",
-    "Secure the roller shaped like cylinder from the table using arms",
-    "Reach for the roller for rolling and grab it firmly.",
-    "Use arms to firmly grab the roller with smooth texture.",
-    "Firmly grip the roller with smooth texture on the table now.",
-    "Lift the roller with smooth texture from its place on the table",
-    "Hold the smooth cylindrical roller with both arms to pick it up",
-    "Hold the roller with smooth texture from the table.",
-    "Take both arms to grasp the cylindrical roller.",
-    "Bring both arms to grab the cylindrical roller.",
-    "Hold the roller with smooth texture firmly from the table.",
-    "Reach for the narrow tapered roller and hold it firmly",
-    "Secure the light wood roller with both arms.",
-    "Grasp the smooth light brown roller firmly from the table.",
-    "Use arms to hold the roller with smooth texture tightly.",
-    "Pick up the roller for rolling from the table directly.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Grasp the brown roller on the table.",
-    "Both arms should grab the roller for rolling now.",
-    "Grip the smooth light brown roller firmly with arms.",
-    "Get hold of the roller shaped like cylinder using your arms",
-    "Take hold of the narrow tapered roller using your arms.",
-    "Lift the roller for rolling off the table with both arms",
-    "Grasp the slim wooden roller on the table with arms.",
-    "Firmly grab the roller with smooth texture using arms.",
-    "Securely grab the light wood roller using both arms.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Take hold of the roller for rolling.",
-    "Place hands on the smooth light brown roller and lift.",
-    "Pick up the long slim roller using both arms equally",
-    "Lift the roller for rolling off the table with arms.",
-    "Grab the light wood roller placed on the table.",
-    "Lift the roller for rolling from the table carefully.",
-    "Secure the light wood roller using your arms.",
-    "Lift the light wood roller with your arms.",
-    "Take the smooth cylindrical roller directly from the table.",
-    "Pick up the palm-sized roller using both arms.",
-    "Pick up the roller with smooth texture from the table.",
-    "Take hold of the roller with smooth texture with both arms.",
-    "Grab the light wood roller directly from the table.",
-    "Hold the brown roller on the table with hands.",
-    "Lift the cylindrical roller from the table.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Grasp the long slim roller firmly with arms.",
-    "Take hold of the roller for rolling with arms.",
-    "Use both arms to grab the roller shaped like cylinder.",
-    "Secure the cylindrical roller from the table using arms",
-    "Reach for the smooth cylindrical roller and grab it firmly.",
-    "Use arms to firmly grab the roller shaped like cylinder.",
-    "Firmly grip the smooth cylindrical roller on the table now.",
-    "Lift the smooth cylindrical roller from its place on the table",
-    "Hold the roller for rolling with both arms to pick it up",
-    "Hold the narrow tapered roller from the table.",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Bring both arms to grab the narrow tapered roller.",
-    "Hold the roller shaped like cylinder firmly from the table.",
-    "Reach for the roller with smooth texture and hold it firmly",
-    "Secure the brown roller with both arms.",
-    "Grasp the smooth light brown roller firmly from the table.",
-    "Use arms to hold the roller for rolling tightly.",
-    "Pick up the smooth light brown roller from the table directly.",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Grasp the smooth light brown roller on the table.",
-    "Both arms should grab the palm-sized roller now.",
-    "Grip the long slim roller firmly with arms.",
-    "Get hold of the roller shaped like cylinder using your arms",
-    "Take hold of the cylindrical roller using your arms.",
-    "Lift the brown roller off the table with both arms",
-    "Grasp the cylindrical roller on the table with arms.",
-    "Firmly grab the palm-sized roller using arms.",
-    "Securely grab the roller for rolling using both arms.",
-    "Reach out to grab the light wood roller from the table",
-    "Take hold of the brown roller.",
-    "Place hands on the cylindrical roller and lift.",
-    "Pick up the smooth cylindrical roller using both arms equally",
-    "Lift the roller with smooth texture off the table with arms."
-  ],
-  "unseen": [
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode29.json b/grab_roller/franka_clean/instructions/episode29.json
deleted file mode 100644
index af605a681fd8b64cfa1b03ec5552dd3c850b7f6f..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode29.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Hold the brown roller firmly from the table.",
-    "Use arms to hold the light wood roller tightly.",
-    "Place hands on the slim wooden roller and lift.",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Grip the slim wooden roller firmly with arms.",
-    "Reach for the light wood roller and hold it firmly",
-    "Hold the roller with smooth texture on the table with hands.",
-    "Secure the palm-sized roller on the table using arms.",
-    "Hold the narrow tapered roller with both arms to pick it up",
-    "Both arms should grab the narrow tapered roller now.",
-    "Firmly grab the light wood roller using arms.",
-    "Take hold of the brown roller with both arms.",
-    "Secure the narrow tapered roller from the table using arms",
-    "Take hold of the smooth cylindrical roller with arms.",
-    "Pick up the narrow tapered roller using both arms equally",
-    "Pick up the narrow tapered roller from the table.",
-    "Bring both arms to grab the long slim roller.",
-    "Take hold of the cylindrical roller.",
-    "Secure the roller for rolling using your arms.",
-    "Grasp the narrow tapered roller on the table with arms.",
-    "Hold the roller shaped like cylinder from the table.",
-    "Take both arms to grasp the brown roller.",
-    "Securely grab the smooth cylindrical roller using both arms.",
-    "Pick up the smooth light brown roller from the table directly.",
-    "Lift the brown roller from its place on the table",
-    "Lift the brown roller off the table with arms.",
-    "Grasp the palm-sized roller on the table.",
-    "Use arms to firmly grab the brown roller.",
-    "Lift the palm-sized roller off the table with both arms",
-    "Take the brown roller directly from the table.",
-    "Lift the long slim roller from the table.",
-    "Grab the cylindrical roller directly from the table.",
-    "Get hold of the smooth light brown roller using your arms",
-    "Grasp the long slim roller firmly with arms.",
-    "Take hold of the roller with smooth texture using your arms.",
-    "Use both arms to grab the slim wooden roller.",
-    "Reach for the cylindrical roller and grab it firmly.",
-    "Lift the smooth light brown roller from the table carefully.",
-    "Pick up the slim wooden roller using both arms.",
-    "Secure the narrow tapered roller with both arms.",
-    "Grab the smooth light brown roller placed on the table.",
-    "Grasp the roller with smooth texture firmly from the table.",
-    "Use both arms to grip the smooth cylindrical roller tightly.",
-    "Lift the narrow tapered roller with your arms.",
-    "Hold the long slim roller firmly from the table.",
-    "Use arms to hold the roller with smooth texture tightly.",
-    "Place hands on the roller shaped like cylinder and lift.",
-    "Firmly grip the smooth light brown roller on the table now.",
-    "Reach out to grab the cylindrical roller from the table",
-    "Grip the palm-sized roller firmly with arms.",
-    "Reach for the roller shaped like cylinder and hold it firmly",
-    "Hold the cylindrical roller on the table with hands.",
-    "Secure the roller shaped like cylinder on the table using arms.",
-    "Hold the slim wooden roller with both arms to pick it up",
-    "Both arms should grab the smooth cylindrical roller now.",
-    "Firmly grab the roller shaped like cylinder using arms.",
-    "Take hold of the roller shaped like cylinder with both arms.",
-    "Secure the cylindrical roller from the table using arms",
-    "Take hold of the smooth light brown roller with arms.",
-    "Pick up the smooth cylindrical roller using both arms equally",
-    "Pick up the slim wooden roller from the table.",
-    "Bring both arms to grab the cylindrical roller.",
-    "Take hold of the roller for rolling.",
-    "Secure the smooth cylindrical roller using your arms.",
-    "Grasp the palm-sized roller on the table with arms.",
-    "Hold the roller with smooth texture from the table.",
-    "Take both arms to grasp the brown roller.",
-    "Securely grab the roller for rolling using both arms.",
-    "Pick up the slim wooden roller from the table directly.",
-    "Lift the slim wooden roller from its place on the table",
-    "Lift the roller with smooth texture off the table with arms.",
-    "Grasp the slim wooden roller on the table.",
-    "Use arms to firmly grab the brown roller.",
-    "Lift the roller with smooth texture off the table with both arms",
-    "Take the long slim roller directly from the table.",
-    "Lift the cylindrical roller from the table.",
-    "Grab the slim wooden roller directly from the table.",
-    "Get hold of the slim wooden roller using your arms",
-    "Grasp the slim wooden roller firmly with arms.",
-    "Take hold of the narrow tapered roller using your arms.",
-    "Use both arms to grab the roller shaped like cylinder.",
-    "Reach for the cylindrical roller and grab it firmly.",
-    "Lift the smooth light brown roller from the table carefully.",
-    "Pick up the long slim roller using both arms.",
-    "Secure the narrow tapered roller with both arms.",
-    "Grab the palm-sized roller placed on the table.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Use both arms to grip the brown roller tightly.",
-    "Lift the brown roller with your arms.",
-    "Hold the slim wooden roller firmly from the table.",
-    "Use arms to hold the slim wooden roller tightly.",
-    "Place hands on the smooth cylindrical roller and lift.",
-    "Firmly grip the roller with smooth texture on the table now.",
-    "Reach out to grab the light wood roller from the table",
-    "Grip the roller with smooth texture firmly with arms.",
-    "Reach for the roller shaped like cylinder and hold it firmly",
-    "Hold the cylindrical roller on the table with hands.",
-    "Secure the slim wooden roller on the table using arms.",
-    "Hold the brown roller with both arms to pick it up"
-  ],
-  "unseen": [
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the roller with tapered ends with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode3.json b/grab_roller/franka_clean/instructions/episode3.json
deleted file mode 100644
index 515b22c4ea85151c3bb069b082db3fbe6c7689e2..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode3.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Hold the narrow tapered roller firmly from the table.",
-    "Take hold of the palm-sized roller using your arms.",
-    "Take hold of the roller shaped like cylinder with both arms.",
-    "Hold the roller with smooth texture with both arms to pick it up",
-    "Lift the narrow tapered roller with your arms.",
-    "Bring both arms to grab the brown roller.",
-    "Secure the brown roller from the table using arms",
-    "Secure the roller for rolling on the table using arms.",
-    "Reach for the light wood roller and hold it firmly",
-    "Hold the smooth cylindrical roller on the table with hands.",
-    "Lift the roller with smooth texture off the table with arms.",
-    "Lift the long slim roller from the table.",
-    "Securely grab the light wood roller using both arms.",
-    "Use both arms to grip the slim wooden roller tightly.",
-    "Take hold of the roller with smooth texture.",
-    "Grasp the palm-sized roller firmly with arms.",
-    "Secure the long slim roller with both arms.",
-    "Pick up the cylindrical roller from the table directly.",
-    "Place hands on the smooth light brown roller and lift.",
-    "Grip the slim wooden roller firmly with arms.",
-    "Reach out to grab the narrow tapered roller from the table",
-    "Lift the slim wooden roller off the table with both arms",
-    "Take hold of the smooth light brown roller with arms.",
-    "Grasp the light wood roller on the table with arms.",
-    "Firmly grab the roller with smooth texture using arms.",
-    "Grasp the brown roller on the table.",
-    "Pick up the slim wooden roller from the table.",
-    "Grab the roller for rolling placed on the table.",
-    "Take both arms to grasp the long slim roller.",
-    "Lift the brown roller from the table carefully.",
-    "Use arms to firmly grab the roller for rolling.",
-    "Both arms should grab the roller for rolling now.",
-    "Pick up the smooth light brown roller using both arms equally",
-    "Lift the long slim roller from its place on the table",
-    "Reach for the palm-sized roller and grab it firmly.",
-    "Grab the smooth cylindrical roller directly from the table.",
-    "Pick up the roller for rolling using both arms.",
-    "Use both arms to grab the roller for rolling.",
-    "Get hold of the roller for rolling using your arms",
-    "Hold the roller with smooth texture from the table.",
-    "Use arms to hold the palm-sized roller tightly.",
-    "Take the roller for rolling directly from the table.",
-    "Firmly grip the smooth cylindrical roller on the table now.",
-    "Grasp the slim wooden roller firmly from the table.",
-    "Secure the roller for rolling using your arms.",
-    "Hold the cylindrical roller firmly from the table.",
-    "Take hold of the palm-sized roller using your arms.",
-    "Take hold of the roller with smooth texture with both arms.",
-    "Hold the roller for rolling with both arms to pick it up",
-    "Lift the light wood roller with your arms.",
-    "Bring both arms to grab the palm-sized roller.",
-    "Secure the brown roller from the table using arms",
-    "Secure the brown roller on the table using arms.",
-    "Reach for the smooth cylindrical roller and hold it firmly",
-    "Hold the palm-sized roller on the table with hands.",
-    "Lift the roller shaped like cylinder off the table with arms.",
-    "Lift the cylindrical roller from the table.",
-    "Securely grab the long slim roller using both arms.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Take hold of the long slim roller.",
-    "Grasp the smooth cylindrical roller firmly with arms.",
-    "Secure the long slim roller with both arms.",
-    "Pick up the smooth cylindrical roller from the table directly.",
-    "Place hands on the roller with smooth texture and lift.",
-    "Grip the roller for rolling firmly with arms.",
-    "Reach out to grab the smooth cylindrical roller from the table",
-    "Lift the light wood roller off the table with both arms",
-    "Take hold of the roller with smooth texture with arms.",
-    "Grasp the smooth light brown roller on the table with arms.",
-    "Firmly grab the long slim roller using arms.",
-    "Grasp the roller shaped like cylinder on the table.",
-    "Pick up the roller shaped like cylinder from the table.",
-    "Grab the light wood roller placed on the table.",
-    "Take both arms to grasp the cylindrical roller.",
-    "Lift the roller shaped like cylinder from the table carefully.",
-    "Use arms to firmly grab the light wood roller.",
-    "Both arms should grab the long slim roller now.",
-    "Pick up the light wood roller using both arms equally",
-    "Lift the brown roller from its place on the table",
-    "Reach for the narrow tapered roller and grab it firmly.",
-    "Grab the roller with smooth texture directly from the table.",
-    "Pick up the smooth light brown roller using both arms.",
-    "Use both arms to grab the palm-sized roller.",
-    "Get hold of the light wood roller using your arms",
-    "Hold the smooth cylindrical roller from the table.",
-    "Use arms to hold the cylindrical roller tightly.",
-    "Take the smooth cylindrical roller directly from the table.",
-    "Firmly grip the light wood roller on the table now.",
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Secure the palm-sized roller using your arms.",
-    "Hold the roller with smooth texture firmly from the table.",
-    "Take hold of the smooth light brown roller using your arms.",
-    "Take hold of the narrow tapered roller with both arms.",
-    "Hold the long slim roller with both arms to pick it up",
-    "Lift the smooth cylindrical roller with your arms.",
-    "Bring both arms to grab the cylindrical roller.",
-    "Secure the brown roller from the table using arms",
-    "Secure the brown roller on the table using arms.",
-    "Reach for the light wood roller and hold it firmly",
-    "Hold the roller shaped like cylinder on the table with hands."
-  ],
-  "unseen": [
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode30.json b/grab_roller/franka_clean/instructions/episode30.json
deleted file mode 100644
index 7a304e942c476814bebf4da09a52fcfed3d1584b..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode30.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Lift the light brown roller from the table carefully.",
-    "Hold the medium roller with narrower tips on the table with hands.",
-    "Place hands on the roller for smoothing materials and lift.",
-    "Pick up the palm-length roller from the table.",
-    "Take hold of the wooden rolling tool.",
-    "Use both arms to grip the wooden rolling tool tightly.",
-    "Lift the palm-length roller off the table with both arms",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Pick up the light brown roller using both arms equally",
-    "Grasp the roller with polished surface firmly with arms.",
-    "Take both arms to grasp the palm-length roller.",
-    "Grasp the medium roller with narrower tips on the table.",
-    "Reach for the roller for smoothing materials and hold it firmly",
-    "Hold the medium roller with narrower tips from the table.",
-    "Hold the light brown roller firmly from the table.",
-    "Grasp the solid wood roller on the table with arms.",
-    "Firmly grab the roller with polished surface using arms.",
-    "Reach out to grab the medium roller with narrower tips from the table",
-    "Pick up the medium-sized roller using both arms.",
-    "Secure the light brown wooden roller with both arms.",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Securely grab the roller with smooth and shiny texture using both arms.",
-    "Lift the medium-sized roller from the table.",
-    "Take hold of the wood roller using your arms.",
-    "Hold the light brown roller with both arms to pick it up",
-    "Get hold of the cylindrical roller with tapered ends using your arms",
-    "Bring both arms to grab the roller with polished surface.",
-    "Take hold of the wooden rolling tool with arms.",
-    "Both arms should grab the roller with polished surface now.",
-    "Secure the roller for smoothing materials on the table using arms.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Take the wooden rolling tool directly from the table.",
-    "Grab the wooden rolling tool directly from the table.",
-    "Lift the wood roller from its place on the table",
-    "Lift the medium roller with narrower tips off the table with arms.",
-    "Grip the roller with polished surface firmly with arms.",
-    "Secure the solid wood roller from the table using arms",
-    "Secure the medium-sized roller using your arms.",
-    "Use arms to hold the medium roller with narrower tips tightly.",
-    "Take hold of the wood roller with both arms.",
-    "Use both arms to grab the roller for smoothing materials.",
-    "Use arms to firmly grab the roller with smooth and shiny texture.",
-    "Reach for the palm-length roller and grab it firmly.",
-    "Lift the wooden rolling tool with your arms.",
-    "Pick up the wood roller from the table directly.",
-    "Lift the roller with smooth and shiny texture from the table carefully.",
-    "Hold the medium roller with narrower tips on the table with hands.",
-    "Place hands on the roller with smooth and shiny texture and lift.",
-    "Pick up the light brown roller from the table.",
-    "Take hold of the solid wood roller.",
-    "Use both arms to grip the palm-length roller tightly.",
-    "Lift the medium-sized roller off the table with both arms",
-    "Firmly grip the palm-length roller on the table now.",
-    "Pick up the medium roller with narrower tips using both arms equally",
-    "Grasp the cylindrical roller with tapered ends firmly with arms.",
-    "Take both arms to grasp the cylindrical roller with tapered ends.",
-    "Grasp the roller for smoothing materials on the table.",
-    "Reach for the roller for smoothing materials and hold it firmly",
-    "Hold the wood roller from the table.",
-    "Hold the roller with polished surface firmly from the table.",
-    "Grasp the solid wood roller on the table with arms.",
-    "Firmly grab the palm-length roller using arms.",
-    "Reach out to grab the wood roller from the table",
-    "Pick up the light brown roller using both arms.",
-    "Secure the wooden rolling tool with both arms.",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Securely grab the palm-length roller using both arms.",
-    "Lift the medium roller with narrower tips from the table.",
-    "Take hold of the wood roller using your arms.",
-    "Hold the cylindrical roller with tapered ends with both arms to pick it up",
-    "Get hold of the cylindrical roller with tapered ends using your arms",
-    "Bring both arms to grab the medium roller with narrower tips.",
-    "Take hold of the roller with smooth and shiny texture with arms.",
-    "Both arms should grab the wood roller now.",
-    "Secure the light brown wooden roller on the table using arms.",
-    "Grasp the palm-length roller firmly from the table.",
-    "Take the light brown roller directly from the table.",
-    "Grab the roller with polished surface directly from the table.",
-    "Lift the wood roller from its place on the table",
-    "Lift the medium roller with narrower tips off the table with arms.",
-    "Grip the wood roller firmly with arms.",
-    "Secure the cylindrical roller with tapered ends from the table using arms",
-    "Secure the roller for smoothing materials using your arms.",
-    "Use arms to hold the wood roller tightly.",
-    "Take hold of the roller with smooth and shiny texture with both arms.",
-    "Use both arms to grab the roller for smoothing materials.",
-    "Use arms to firmly grab the solid wood roller.",
-    "Reach for the roller with smooth and shiny texture and grab it firmly.",
-    "Lift the light brown roller with your arms.",
-    "Pick up the roller with smooth and shiny texture from the table directly.",
-    "Lift the light brown wooden roller from the table carefully.",
-    "Hold the wooden rolling tool on the table with hands.",
-    "Place hands on the palm-length roller and lift.",
-    "Pick up the light brown roller from the table.",
-    "Take hold of the medium-sized roller.",
-    "Use both arms to grip the cylindrical roller with tapered ends tightly.",
-    "Lift the palm-length roller off the table with both arms",
-    "Firmly grip the cylindrical roller with tapered ends on the table now.",
-    "Pick up the light brown wooden roller using both arms equally",
-    "Grasp the medium-sized roller firmly with arms."
-  ],
-  "unseen": [
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode31.json b/grab_roller/franka_clean/instructions/episode31.json
deleted file mode 100644
index cfc7d0ac25c2e745c7bb32f92ce8004868ecef8c..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode31.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Lift the light wood roller off the table with arms.",
-    "Take the smooth light brown roller directly from the table.",
-    "Grip the smooth cylindrical roller firmly with arms.",
-    "Reach out to grab the narrow tapered roller from the table",
-    "Hold the brown roller on the table with hands.",
-    "Use both arms to grab the roller for rolling.",
-    "Get hold of the brown roller using your arms",
-    "Lift the light wood roller with your arms.",
-    "Grasp the roller with smooth texture firmly from the table.",
-    "Take hold of the narrow tapered roller with both arms.",
-    "Take both arms to grasp the long slim roller.",
-    "Pick up the slim wooden roller from the table directly.",
-    "Pick up the brown roller using both arms equally",
-    "Firmly grab the slim wooden roller using arms.",
-    "Secure the palm-sized roller on the table using arms.",
-    "Use arms to hold the light wood roller tightly.",
-    "Lift the narrow tapered roller from the table carefully.",
-    "Take hold of the roller for rolling using your arms.",
-    "Use arms to firmly grab the roller shaped like cylinder.",
-    "Grasp the smooth cylindrical roller on the table with arms.",
-    "Bring both arms to grab the roller with smooth texture.",
-    "Pick up the roller with smooth texture from the table.",
-    "Secure the narrow tapered roller with both arms.",
-    "Hold the brown roller from the table.",
-    "Hold the slim wooden roller firmly from the table.",
-    "Use both arms to grip the long slim roller tightly.",
-    "Securely grab the smooth light brown roller using both arms.",
-    "Grasp the roller with smooth texture firmly with arms.",
-    "Hold the roller shaped like cylinder with both arms to pick it up",
-    "Secure the slim wooden roller from the table using arms",
-    "Both arms should grab the slim wooden roller now.",
-    "Grasp the long slim roller on the table.",
-    "Grab the smooth cylindrical roller directly from the table.",
-    "Secure the palm-sized roller using your arms.",
-    "Place hands on the long slim roller and lift.",
-    "Take hold of the light wood roller with arms.",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Lift the cylindrical roller off the table with both arms",
-    "Lift the roller with smooth texture from the table.",
-    "Lift the brown roller from its place on the table",
-    "Reach for the cylindrical roller and grab it firmly.",
-    "Reach for the cylindrical roller and hold it firmly",
-    "Grab the roller shaped like cylinder placed on the table.",
-    "Pick up the light wood roller using both arms.",
-    "Take hold of the roller shaped like cylinder.",
-    "Lift the light wood roller off the table with arms.",
-    "Take the roller shaped like cylinder directly from the table.",
-    "Grip the roller with smooth texture firmly with arms.",
-    "Reach out to grab the brown roller from the table",
-    "Hold the light wood roller on the table with hands.",
-    "Use both arms to grab the brown roller.",
-    "Get hold of the roller for rolling using your arms",
-    "Lift the brown roller with your arms.",
-    "Grasp the roller with smooth texture firmly from the table.",
-    "Take hold of the roller for rolling with both arms.",
-    "Take both arms to grasp the light wood roller.",
-    "Pick up the smooth light brown roller from the table directly.",
-    "Pick up the roller with smooth texture using both arms equally",
-    "Firmly grab the roller shaped like cylinder using arms.",
-    "Secure the brown roller on the table using arms.",
-    "Use arms to hold the cylindrical roller tightly.",
-    "Lift the slim wooden roller from the table carefully.",
-    "Take hold of the smooth light brown roller using your arms.",
-    "Use arms to firmly grab the narrow tapered roller.",
-    "Grasp the palm-sized roller on the table with arms.",
-    "Bring both arms to grab the slim wooden roller.",
-    "Pick up the roller shaped like cylinder from the table.",
-    "Secure the cylindrical roller with both arms.",
-    "Hold the roller for rolling from the table.",
-    "Hold the smooth light brown roller firmly from the table.",
-    "Use both arms to grip the smooth light brown roller tightly.",
-    "Securely grab the narrow tapered roller using both arms.",
-    "Grasp the roller shaped like cylinder firmly with arms.",
-    "Hold the smooth light brown roller with both arms to pick it up",
-    "Secure the light wood roller from the table using arms",
-    "Both arms should grab the light wood roller now.",
-    "Grasp the smooth cylindrical roller on the table.",
-    "Grab the narrow tapered roller directly from the table.",
-    "Secure the light wood roller using your arms.",
-    "Place hands on the palm-sized roller and lift.",
-    "Take hold of the light wood roller with arms.",
-    "Firmly grip the roller with smooth texture on the table now.",
-    "Lift the roller with smooth texture off the table with both arms",
-    "Lift the brown roller from the table.",
-    "Lift the long slim roller from its place on the table",
-    "Reach for the smooth cylindrical roller and grab it firmly.",
-    "Reach for the roller for rolling and hold it firmly",
-    "Grab the smooth cylindrical roller placed on the table.",
-    "Pick up the roller for rolling using both arms.",
-    "Take hold of the narrow tapered roller.",
-    "Lift the narrow tapered roller off the table with arms.",
-    "Take the long slim roller directly from the table.",
-    "Grip the light wood roller firmly with arms.",
-    "Reach out to grab the slim wooden roller from the table",
-    "Hold the palm-sized roller on the table with hands.",
-    "Use both arms to grab the long slim roller.",
-    "Get hold of the light wood roller using your arms",
-    "Lift the narrow tapered roller with your arms.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Take hold of the roller with smooth texture with both arms."
-  ],
-  "unseen": [
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the light brown wooden roller with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode32.json b/grab_roller/franka_clean/instructions/episode32.json
deleted file mode 100644
index b4be2dcf9b14ced68cd8d7df21d4fa7bed423ffc..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode32.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Hold the roller with polished surface from the table.",
-    "Grasp the roller with smooth and shiny texture on the table with arms.",
-    "Get hold of the wood roller using your arms",
-    "Take hold of the wood roller using your arms.",
-    "Secure the cylindrical roller with tapered ends with both arms.",
-    "Reach for the palm-length roller and hold it firmly",
-    "Use arms to hold the solid wood roller tightly.",
-    "Take both arms to grasp the roller for smoothing materials.",
-    "Lift the light brown wooden roller off the table with both arms",
-    "Lift the solid wood roller from the table.",
-    "Take hold of the light brown wooden roller.",
-    "Bring both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the palm-length roller.",
-    "Pick up the light brown wooden roller using both arms equally",
-    "Secure the cylindrical roller with tapered ends on the table using arms.",
-    "Secure the palm-length roller from the table using arms",
-    "Firmly grab the roller with polished surface using arms.",
-    "Hold the wood roller with both arms to pick it up",
-    "Firmly grip the roller with polished surface on the table now.",
-    "Take hold of the light brown roller with arms.",
-    "Secure the roller with polished surface using your arms.",
-    "Grip the medium-sized roller firmly with arms.",
-    "Grasp the medium-sized roller firmly from the table.",
-    "Grasp the wooden rolling tool firmly with arms.",
-    "Securely grab the medium roller with narrower tips using both arms.",
-    "Pick up the medium roller with narrower tips using both arms.",
-    "Both arms should grab the wood roller now.",
-    "Lift the medium roller with narrower tips off the table with arms.",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Take the light brown roller directly from the table.",
-    "Grasp the light brown wooden roller on the table.",
-    "Reach for the medium roller with narrower tips and grab it firmly.",
-    "Use both arms to grip the medium roller with narrower tips tightly.",
-    "Lift the medium roller with narrower tips from its place on the table",
-    "Grab the solid wood roller directly from the table.",
-    "Pick up the light brown wooden roller from the table directly.",
-    "Place hands on the roller with polished surface and lift.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Pick up the cylindrical roller with tapered ends from the table.",
-    "Hold the light brown wooden roller on the table with hands.",
-    "Lift the wood roller from the table carefully.",
-    "Hold the wood roller firmly from the table.",
-    "Lift the light brown roller with your arms.",
-    "Take hold of the light brown wooden roller with both arms.",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Hold the solid wood roller from the table.",
-    "Grasp the wood roller on the table with arms.",
-    "Get hold of the palm-length roller using your arms",
-    "Take hold of the roller with polished surface using your arms.",
-    "Secure the wood roller with both arms.",
-    "Reach for the medium roller with narrower tips and hold it firmly",
-    "Use arms to hold the roller for smoothing materials tightly.",
-    "Take both arms to grasp the wooden rolling tool.",
-    "Lift the cylindrical roller with tapered ends off the table with both arms",
-    "Lift the medium-sized roller from the table.",
-    "Take hold of the palm-length roller.",
-    "Bring both arms to grab the solid wood roller.",
-    "Use both arms to grab the solid wood roller.",
-    "Pick up the wooden rolling tool using both arms equally",
-    "Secure the roller with polished surface on the table using arms.",
-    "Secure the roller for smoothing materials from the table using arms",
-    "Firmly grab the solid wood roller using arms.",
-    "Hold the palm-length roller with both arms to pick it up",
-    "Firmly grip the palm-length roller on the table now.",
-    "Take hold of the palm-length roller with arms.",
-    "Secure the roller with smooth and shiny texture using your arms.",
-    "Grip the roller with polished surface firmly with arms.",
-    "Grasp the palm-length roller firmly from the table.",
-    "Grasp the medium roller with narrower tips firmly with arms.",
-    "Securely grab the light brown roller using both arms.",
-    "Pick up the cylindrical roller with tapered ends using both arms.",
-    "Both arms should grab the palm-length roller now.",
-    "Lift the roller for smoothing materials off the table with arms.",
-    "Reach out to grab the palm-length roller from the table",
-    "Take the light brown roller directly from the table.",
-    "Grasp the palm-length roller on the table.",
-    "Reach for the light brown wooden roller and grab it firmly.",
-    "Use both arms to grip the light brown roller tightly.",
-    "Lift the roller for smoothing materials from its place on the table",
-    "Grab the light brown roller directly from the table.",
-    "Pick up the solid wood roller from the table directly.",
-    "Place hands on the roller for smoothing materials and lift.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Pick up the roller for smoothing materials from the table.",
-    "Hold the cylindrical roller with tapered ends on the table with hands.",
-    "Lift the roller for smoothing materials from the table carefully.",
-    "Hold the cylindrical roller with tapered ends firmly from the table.",
-    "Lift the medium-sized roller with your arms.",
-    "Take hold of the medium-sized roller with both arms.",
-    "Grab the roller with smooth and shiny texture placed on the table.",
-    "Hold the solid wood roller from the table.",
-    "Grasp the light brown roller on the table with arms.",
-    "Get hold of the wooden rolling tool using your arms",
-    "Take hold of the roller with smooth and shiny texture using your arms.",
-    "Secure the cylindrical roller with tapered ends with both arms.",
-    "Reach for the palm-length roller and hold it firmly",
-    "Use arms to hold the cylindrical roller with tapered ends tightly.",
-    "Take both arms to grasp the solid wood roller.",
-    "Lift the solid wood roller off the table with both arms",
-    "Lift the light brown wooden roller from the table."
-  ],
-  "unseen": [
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode33.json b/grab_roller/franka_clean/instructions/episode33.json
deleted file mode 100644
index 263128ec684141807db588d50760df3a33046bf6..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode33.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Lift the medium-sized roller with your arms.",
-    "Use arms to firmly grab the solid wood roller.",
-    "Pick up the roller with smooth and shiny texture using both arms.",
-    "Secure the medium roller with narrower tips with both arms.",
-    "Use both arms to grab the wooden rolling tool.",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Hold the light brown wooden roller with both arms to pick it up",
-    "Place hands on the wood roller and lift.",
-    "Take hold of the roller with smooth and shiny texture with both arms.",
-    "Grasp the palm-length roller on the table with arms.",
-    "Hold the wooden rolling tool from the table.",
-    "Get hold of the wood roller using your arms",
-    "Reach for the wooden rolling tool and hold it firmly",
-    "Hold the wooden rolling tool on the table with hands.",
-    "Grasp the medium roller with narrower tips firmly from the table.",
-    "Both arms should grab the cylindrical roller with tapered ends now.",
-    "Lift the medium roller with narrower tips from the table.",
-    "Lift the medium-sized roller from the table carefully.",
-    "Secure the cylindrical roller with tapered ends on the table using arms.",
-    "Reach out to grab the roller with polished surface from the table",
-    "Lift the light brown roller off the table with both arms",
-    "Hold the roller for smoothing materials firmly from the table.",
-    "Use arms to hold the wood roller tightly.",
-    "Reach for the wooden rolling tool and grab it firmly.",
-    "Take both arms to grasp the roller for smoothing materials.",
-    "Grip the solid wood roller firmly with arms.",
-    "Take the wood roller directly from the table.",
-    "Pick up the roller for smoothing materials from the table directly.",
-    "Take hold of the roller for smoothing materials using your arms.",
-    "Grasp the medium-sized roller on the table.",
-    "Pick up the roller with polished surface from the table.",
-    "Secure the cylindrical roller with tapered ends from the table using arms",
-    "Firmly grab the wooden rolling tool using arms.",
-    "Pick up the light brown wooden roller using both arms equally",
-    "Grasp the roller with smooth and shiny texture firmly with arms.",
-    "Grab the light brown roller placed on the table.",
-    "Grab the light brown wooden roller directly from the table.",
-    "Take hold of the palm-length roller.",
-    "Lift the roller with polished surface from its place on the table",
-    "Secure the cylindrical roller with tapered ends using your arms.",
-    "Securely grab the light brown roller using both arms.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Bring both arms to grab the roller with polished surface.",
-    "Use both arms to grip the light brown wooden roller tightly.",
-    "Lift the roller for smoothing materials off the table with arms.",
-    "Lift the solid wood roller with your arms.",
-    "Use arms to firmly grab the light brown wooden roller.",
-    "Pick up the light brown roller using both arms.",
-    "Secure the light brown wooden roller with both arms.",
-    "Use both arms to grab the solid wood roller.",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Hold the medium-sized roller with both arms to pick it up",
-    "Place hands on the cylindrical roller with tapered ends and lift.",
-    "Take hold of the light brown roller with both arms.",
-    "Grasp the roller with smooth and shiny texture on the table with arms.",
-    "Hold the cylindrical roller with tapered ends from the table.",
-    "Get hold of the wood roller using your arms",
-    "Reach for the solid wood roller and hold it firmly",
-    "Hold the roller for smoothing materials on the table with hands.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Both arms should grab the medium roller with narrower tips now.",
-    "Lift the palm-length roller from the table.",
-    "Lift the light brown roller from the table carefully.",
-    "Secure the roller for smoothing materials on the table using arms.",
-    "Reach out to grab the roller with smooth and shiny texture from the table",
-    "Lift the light brown roller off the table with both arms",
-    "Hold the medium-sized roller firmly from the table.",
-    "Use arms to hold the solid wood roller tightly.",
-    "Reach for the cylindrical roller with tapered ends and grab it firmly.",
-    "Take both arms to grasp the wooden rolling tool.",
-    "Grip the light brown roller firmly with arms.",
-    "Take the roller for smoothing materials directly from the table.",
-    "Pick up the medium-sized roller from the table directly.",
-    "Take hold of the roller for smoothing materials using your arms.",
-    "Grasp the roller for smoothing materials on the table.",
-    "Pick up the medium roller with narrower tips from the table.",
-    "Secure the light brown wooden roller from the table using arms",
-    "Firmly grab the medium roller with narrower tips using arms.",
-    "Pick up the palm-length roller using both arms equally",
-    "Grasp the palm-length roller firmly with arms.",
-    "Grab the solid wood roller placed on the table.",
-    "Grab the roller with smooth and shiny texture directly from the table.",
-    "Take hold of the wood roller.",
-    "Lift the wood roller from its place on the table",
-    "Secure the wooden rolling tool using your arms.",
-    "Securely grab the light brown wooden roller using both arms.",
-    "Take hold of the solid wood roller with arms.",
-    "Bring both arms to grab the wood roller.",
-    "Use both arms to grip the palm-length roller tightly.",
-    "Lift the solid wood roller off the table with arms.",
-    "Lift the wood roller with your arms.",
-    "Use arms to firmly grab the medium roller with narrower tips.",
-    "Pick up the solid wood roller using both arms.",
-    "Secure the light brown roller with both arms.",
-    "Use both arms to grab the medium roller with narrower tips.",
-    "Firmly grip the wooden rolling tool on the table now.",
-    "Hold the roller with smooth and shiny texture with both arms to pick it up",
-    "Place hands on the light brown roller and lift.",
-    "Take hold of the medium roller with narrower tips with both arms.",
-    "Grasp the roller with smooth and shiny texture on the table with arms."
-  ],
-  "unseen": [
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the smooth wooden roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode34.json b/grab_roller/franka_clean/instructions/episode34.json
deleted file mode 100644
index 1f45b74015a2e00949c755f8bb33187681c1dfe9..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode34.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Firmly grab the roller for smoothing materials using arms.",
-    "Lift the wooden rolling tool from the table carefully.",
-    "Secure the medium-sized roller on the table using arms.",
-    "Hold the roller with smooth and shiny texture on the table with hands.",
-    "Take hold of the light brown wooden roller.",
-    "Lift the palm-length roller off the table with arms.",
-    "Lift the wood roller off the table with both arms",
-    "Grasp the medium-sized roller firmly with arms.",
-    "Bring both arms to grab the roller for smoothing materials.",
-    "Both arms should grab the roller for smoothing materials now.",
-    "Use both arms to grab the medium roller with narrower tips.",
-    "Reach for the medium-sized roller and grab it firmly.",
-    "Grip the palm-length roller firmly with arms.",
-    "Pick up the roller with smooth and shiny texture from the table directly.",
-    "Take hold of the solid wood roller using your arms.",
-    "Place hands on the roller for smoothing materials and lift.",
-    "Pick up the wooden rolling tool from the table.",
-    "Reach for the roller for smoothing materials and hold it firmly",
-    "Get hold of the roller with smooth and shiny texture using your arms",
-    "Hold the cylindrical roller with tapered ends firmly from the table.",
-    "Grasp the light brown roller on the table.",
-    "Hold the light brown wooden roller from the table.",
-    "Hold the palm-length roller with both arms to pick it up",
-    "Grab the solid wood roller directly from the table.",
-    "Take hold of the solid wood roller with arms.",
-    "Reach out to grab the light brown wooden roller from the table",
-    "Secure the cylindrical roller with tapered ends with both arms.",
-    "Use arms to hold the wood roller tightly.",
-    "Pick up the wooden rolling tool using both arms equally",
-    "Grasp the light brown wooden roller firmly from the table.",
-    "Lift the medium-sized roller from the table.",
-    "Grasp the roller for smoothing materials on the table with arms.",
-    "Take both arms to grasp the cylindrical roller with tapered ends.",
-    "Secure the solid wood roller from the table using arms",
-    "Firmly grip the medium roller with narrower tips on the table now.",
-    "Take the light brown roller directly from the table.",
-    "Lift the medium roller with narrower tips with your arms.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Lift the medium roller with narrower tips from its place on the table",
-    "Use both arms to grip the light brown roller tightly.",
-    "Securely grab the medium-sized roller using both arms.",
-    "Pick up the wood roller using both arms.",
-    "Grab the light brown wooden roller placed on the table.",
-    "Secure the roller for smoothing materials using your arms.",
-    "Take hold of the wood roller with both arms.",
-    "Firmly grab the palm-length roller using arms.",
-    "Lift the cylindrical roller with tapered ends from the table carefully.",
-    "Secure the wooden rolling tool on the table using arms.",
-    "Hold the wood roller on the table with hands.",
-    "Take hold of the wood roller.",
-    "Lift the wooden rolling tool off the table with arms.",
-    "Lift the medium-sized roller off the table with both arms",
-    "Grasp the wooden rolling tool firmly with arms.",
-    "Bring both arms to grab the wood roller.",
-    "Both arms should grab the medium roller with narrower tips now.",
-    "Use both arms to grab the solid wood roller.",
-    "Reach for the roller with polished surface and grab it firmly.",
-    "Grip the roller with smooth and shiny texture firmly with arms.",
-    "Pick up the medium roller with narrower tips from the table directly.",
-    "Take hold of the palm-length roller using your arms.",
-    "Place hands on the light brown wooden roller and lift.",
-    "Pick up the palm-length roller from the table.",
-    "Reach for the medium roller with narrower tips and hold it firmly",
-    "Get hold of the palm-length roller using your arms",
-    "Hold the medium roller with narrower tips firmly from the table.",
-    "Grasp the roller for smoothing materials on the table.",
-    "Hold the light brown roller from the table.",
-    "Hold the palm-length roller with both arms to pick it up",
-    "Grab the roller with smooth and shiny texture directly from the table.",
-    "Take hold of the roller with polished surface with arms.",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Secure the medium roller with narrower tips with both arms.",
-    "Use arms to hold the medium-sized roller tightly.",
-    "Pick up the roller with polished surface using both arms equally",
-    "Grasp the roller with polished surface firmly from the table.",
-    "Lift the roller with smooth and shiny texture from the table.",
-    "Grasp the medium-sized roller on the table with arms.",
-    "Take both arms to grasp the medium roller with narrower tips.",
-    "Secure the roller with smooth and shiny texture from the table using arms",
-    "Firmly grip the palm-length roller on the table now.",
-    "Take the light brown wooden roller directly from the table.",
-    "Lift the wood roller with your arms.",
-    "Use arms to firmly grab the wooden rolling tool.",
-    "Lift the roller for smoothing materials from its place on the table",
-    "Use both arms to grip the wooden rolling tool tightly.",
-    "Securely grab the medium roller with narrower tips using both arms.",
-    "Pick up the palm-length roller using both arms.",
-    "Grab the solid wood roller placed on the table.",
-    "Secure the palm-length roller using your arms.",
-    "Take hold of the light brown wooden roller with both arms.",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Lift the medium-sized roller from the table carefully.",
-    "Secure the wood roller on the table using arms.",
-    "Hold the palm-length roller on the table with hands.",
-    "Take hold of the light brown wooden roller.",
-    "Lift the light brown wooden roller off the table with arms.",
-    "Lift the light brown wooden roller off the table with both arms",
-    "Grasp the palm-length roller firmly with arms.",
-    "Bring both arms to grab the palm-length roller.",
-    "Both arms should grab the roller for smoothing materials now."
-  ],
-  "unseen": [
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table using arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode35.json b/grab_roller/franka_clean/instructions/episode35.json
deleted file mode 100644
index 563f13ef0e45e4dadde57a1d0b5c858c8e0fdc5e..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode35.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Grasp the light brown wooden roller on the table with arms.",
-    "Take hold of the roller for smoothing materials with both arms.",
-    "Secure the cylindrical roller with tapered ends from the table using arms",
-    "Take hold of the wooden rolling tool using your arms.",
-    "Lift the solid wood roller from the table carefully.",
-    "Grasp the light brown roller firmly from the table.",
-    "Secure the palm-length roller with both arms.",
-    "Place hands on the roller with polished surface and lift.",
-    "Grasp the solid wood roller firmly with arms.",
-    "Reach for the wood roller and hold it firmly",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Hold the palm-length roller with both arms to pick it up",
-    "Pick up the roller with smooth and shiny texture using both arms.",
-    "Hold the roller with polished surface firmly from the table.",
-    "Securely grab the light brown roller using both arms.",
-    "Take both arms to grasp the roller for smoothing materials.",
-    "Take hold of the medium roller with narrower tips.",
-    "Use arms to firmly grab the light brown wooden roller.",
-    "Hold the light brown wooden roller on the table with hands.",
-    "Secure the light brown roller using your arms.",
-    "Take hold of the medium-sized roller with arms.",
-    "Lift the wooden rolling tool from its place on the table",
-    "Grasp the medium roller with narrower tips on the table.",
-    "Get hold of the light brown roller using your arms",
-    "Secure the roller with smooth and shiny texture on the table using arms.",
-    "Lift the light brown roller off the table with arms.",
-    "Take the solid wood roller directly from the table.",
-    "Use both arms to grab the roller for smoothing materials.",
-    "Lift the roller with polished surface with your arms.",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Bring both arms to grab the wood roller.",
-    "Hold the palm-length roller from the table.",
-    "Both arms should grab the medium roller with narrower tips now.",
-    "Use arms to hold the medium-sized roller tightly.",
-    "Grip the palm-length roller firmly with arms.",
-    "Reach for the roller with smooth and shiny texture and grab it firmly.",
-    "Lift the light brown wooden roller from the table.",
-    "Lift the roller with smooth and shiny texture off the table with both arms",
-    "Pick up the solid wood roller from the table.",
-    "Grab the wood roller directly from the table.",
-    "Use both arms to grip the wooden rolling tool tightly.",
-    "Grab the roller for smoothing materials placed on the table.",
-    "Pick up the roller with polished surface from the table directly.",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Pick up the roller with polished surface using both arms equally",
-    "Grasp the medium-sized roller on the table with arms.",
-    "Take hold of the wooden rolling tool with both arms.",
-    "Secure the cylindrical roller with tapered ends from the table using arms",
-    "Take hold of the wood roller using your arms.",
-    "Lift the roller with polished surface from the table carefully.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Secure the medium roller with narrower tips with both arms.",
-    "Place hands on the roller with polished surface and lift.",
-    "Grasp the palm-length roller firmly with arms.",
-    "Reach for the roller with smooth and shiny texture and hold it firmly",
-    "Firmly grip the palm-length roller on the table now.",
-    "Hold the wooden rolling tool with both arms to pick it up",
-    "Pick up the palm-length roller using both arms.",
-    "Hold the wooden rolling tool firmly from the table.",
-    "Securely grab the cylindrical roller with tapered ends using both arms.",
-    "Take both arms to grasp the wood roller.",
-    "Take hold of the light brown wooden roller.",
-    "Use arms to firmly grab the roller with smooth and shiny texture.",
-    "Hold the wood roller on the table with hands.",
-    "Secure the wood roller using your arms.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Lift the wood roller from its place on the table",
-    "Grasp the solid wood roller on the table.",
-    "Get hold of the roller with polished surface using your arms",
-    "Secure the roller for smoothing materials on the table using arms.",
-    "Lift the wooden rolling tool off the table with arms.",
-    "Take the medium-sized roller directly from the table.",
-    "Use both arms to grab the medium roller with narrower tips.",
-    "Lift the light brown wooden roller with your arms.",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Bring both arms to grab the wood roller.",
-    "Hold the roller with smooth and shiny texture from the table.",
-    "Both arms should grab the solid wood roller now.",
-    "Use arms to hold the roller with smooth and shiny texture tightly.",
-    "Grip the palm-length roller firmly with arms.",
-    "Reach for the roller with smooth and shiny texture and grab it firmly.",
-    "Lift the light brown wooden roller from the table.",
-    "Lift the medium-sized roller off the table with both arms",
-    "Pick up the wood roller from the table.",
-    "Grab the roller for smoothing materials directly from the table.",
-    "Use both arms to grip the cylindrical roller with tapered ends tightly.",
-    "Grab the solid wood roller placed on the table.",
-    "Pick up the palm-length roller from the table directly.",
-    "Reach out to grab the light brown wooden roller from the table",
-    "Pick up the medium roller with narrower tips using both arms equally",
-    "Grasp the solid wood roller on the table with arms.",
-    "Take hold of the light brown wooden roller with both arms.",
-    "Secure the wooden rolling tool from the table using arms",
-    "Take hold of the roller with polished surface using your arms.",
-    "Lift the roller for smoothing materials from the table carefully.",
-    "Grasp the roller for smoothing materials firmly from the table.",
-    "Secure the medium roller with narrower tips with both arms.",
-    "Place hands on the roller for smoothing materials and lift.",
-    "Grasp the medium roller with narrower tips firmly with arms.",
-    "Reach for the cylindrical roller with tapered ends and hold it firmly"
-  ],
-  "unseen": [
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode36.json b/grab_roller/franka_clean/instructions/episode36.json
deleted file mode 100644
index e9cbaf83a8e9f99173080c3efb6f3877b00ce2d3..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode36.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Secure the smooth cylindrical roller with both arms.",
-    "Lift the brown roller from its place on the table",
-    "Use arms to hold the brown roller tightly.",
-    "Reach for the smooth light brown roller and hold it firmly",
-    "Secure the roller for rolling from the table using arms",
-    "Use both arms to grab the roller with smooth texture.",
-    "Lift the palm-sized roller off the table with arms.",
-    "Grasp the roller for rolling firmly with arms.",
-    "Take hold of the cylindrical roller with both arms.",
-    "Bring both arms to grab the cylindrical roller.",
-    "Take hold of the slim wooden roller.",
-    "Grasp the cylindrical roller firmly from the table.",
-    "Take hold of the long slim roller using your arms.",
-    "Secure the long slim roller using your arms.",
-    "Hold the roller for rolling from the table.",
-    "Get hold of the slim wooden roller using your arms",
-    "Lift the long slim roller off the table with both arms",
-    "Reach out to grab the roller for rolling from the table",
-    "Hold the smooth light brown roller on the table with hands.",
-    "Firmly grab the roller shaped like cylinder using arms.",
-    "Lift the roller with smooth texture from the table.",
-    "Reach for the smooth cylindrical roller and grab it firmly.",
-    "Pick up the brown roller using both arms equally",
-    "Grasp the cylindrical roller on the table.",
-    "Grab the slim wooden roller placed on the table.",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Lift the smooth light brown roller with your arms.",
-    "Securely grab the long slim roller using both arms.",
-    "Grasp the roller shaped like cylinder on the table with arms.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Both arms should grab the roller for rolling now.",
-    "Take hold of the light wood roller with arms.",
-    "Lift the roller shaped like cylinder from the table carefully.",
-    "Use arms to firmly grab the long slim roller.",
-    "Grip the palm-sized roller firmly with arms.",
-    "Hold the brown roller with both arms to pick it up",
-    "Pick up the roller for rolling from the table.",
-    "Place hands on the palm-sized roller and lift.",
-    "Grab the light wood roller directly from the table.",
-    "Secure the palm-sized roller on the table using arms.",
-    "Hold the palm-sized roller firmly from the table.",
-    "Pick up the roller for rolling from the table directly.",
-    "Take the smooth cylindrical roller directly from the table.",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Pick up the roller shaped like cylinder using both arms.",
-    "Secure the brown roller with both arms.",
-    "Lift the long slim roller from its place on the table",
-    "Use arms to hold the brown roller tightly.",
-    "Reach for the roller shaped like cylinder and hold it firmly",
-    "Secure the roller for rolling from the table using arms",
-    "Use both arms to grab the smooth light brown roller.",
-    "Lift the roller with smooth texture off the table with arms.",
-    "Grasp the cylindrical roller firmly with arms.",
-    "Take hold of the palm-sized roller with both arms.",
-    "Bring both arms to grab the palm-sized roller.",
-    "Take hold of the brown roller.",
-    "Grasp the cylindrical roller firmly from the table.",
-    "Take hold of the long slim roller using your arms.",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Hold the slim wooden roller from the table.",
-    "Get hold of the brown roller using your arms",
-    "Lift the roller shaped like cylinder off the table with both arms",
-    "Reach out to grab the roller with smooth texture from the table",
-    "Hold the light wood roller on the table with hands.",
-    "Firmly grab the palm-sized roller using arms.",
-    "Lift the long slim roller from the table.",
-    "Reach for the long slim roller and grab it firmly.",
-    "Pick up the light wood roller using both arms equally",
-    "Grasp the cylindrical roller on the table.",
-    "Grab the roller for rolling placed on the table.",
-    "Take both arms to grasp the cylindrical roller.",
-    "Lift the long slim roller with your arms.",
-    "Securely grab the light wood roller using both arms.",
-    "Grasp the brown roller on the table with arms.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Both arms should grab the smooth light brown roller now.",
-    "Take hold of the cylindrical roller with arms.",
-    "Lift the brown roller from the table carefully.",
-    "Use arms to firmly grab the cylindrical roller.",
-    "Grip the palm-sized roller firmly with arms.",
-    "Hold the roller for rolling with both arms to pick it up",
-    "Pick up the smooth cylindrical roller from the table.",
-    "Place hands on the smooth cylindrical roller and lift.",
-    "Grab the palm-sized roller directly from the table.",
-    "Secure the narrow tapered roller on the table using arms.",
-    "Hold the roller for rolling firmly from the table.",
-    "Pick up the light wood roller from the table directly.",
-    "Take the cylindrical roller directly from the table.",
-    "Firmly grip the slim wooden roller on the table now.",
-    "Pick up the long slim roller using both arms.",
-    "Secure the roller shaped like cylinder with both arms.",
-    "Lift the light wood roller from its place on the table",
-    "Use arms to hold the light wood roller tightly.",
-    "Reach for the light wood roller and hold it firmly",
-    "Secure the light wood roller from the table using arms",
-    "Use both arms to grab the roller for rolling.",
-    "Lift the roller shaped like cylinder off the table with arms.",
-    "Grasp the cylindrical roller firmly with arms.",
-    "Take hold of the slim wooden roller with both arms.",
-    "Bring both arms to grab the cylindrical roller."
-  ],
-  "unseen": [
-    "Grab the roller with tapered ends on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode37.json b/grab_roller/franka_clean/instructions/episode37.json
deleted file mode 100644
index ffae52be205f9b2678ce14cc2127e7f2ae6e86b7..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode37.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Firmly grab the palm-sized roller using arms.",
-    "Hold the narrow tapered roller on the table with hands.",
-    "Place hands on the brown roller and lift.",
-    "Pick up the narrow tapered roller using both arms.",
-    "Lift the palm-sized roller with your arms.",
-    "Lift the light wood roller from the table.",
-    "Take hold of the long slim roller with both arms.",
-    "Grasp the long slim roller on the table.",
-    "Grasp the palm-sized roller firmly from the table.",
-    "Lift the light wood roller from its place on the table",
-    "Secure the slim wooden roller from the table using arms",
-    "Grasp the slim wooden roller on the table with arms.",
-    "Both arms should grab the slim wooden roller now.",
-    "Pick up the brown roller from the table directly.",
-    "Grab the narrow tapered roller directly from the table.",
-    "Secure the slim wooden roller with both arms.",
-    "Use arms to firmly grab the narrow tapered roller.",
-    "Reach for the palm-sized roller and grab it firmly.",
-    "Grip the narrow tapered roller firmly with arms.",
-    "Hold the roller for rolling firmly from the table.",
-    "Lift the roller for rolling off the table with both arms",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Securely grab the long slim roller using both arms.",
-    "Take the smooth cylindrical roller directly from the table.",
-    "Pick up the light wood roller using both arms equally",
-    "Grasp the long slim roller firmly with arms.",
-    "Grab the palm-sized roller placed on the table.",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Get hold of the smooth light brown roller using your arms",
-    "Lift the long slim roller off the table with arms.",
-    "Secure the light wood roller using your arms.",
-    "Hold the cylindrical roller from the table.",
-    "Use both arms to grab the roller shaped like cylinder.",
-    "Secure the palm-sized roller on the table using arms.",
-    "Use arms to hold the long slim roller tightly.",
-    "Take hold of the palm-sized roller.",
-    "Pick up the smooth light brown roller from the table.",
-    "Reach out to grab the long slim roller from the table",
-    "Take hold of the narrow tapered roller using your arms.",
-    "Lift the brown roller from the table carefully.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Hold the long slim roller with both arms to pick it up",
-    "Reach for the palm-sized roller and hold it firmly",
-    "Take hold of the brown roller with arms.",
-    "Take both arms to grasp the roller shaped like cylinder.",
-    "Firmly grab the roller for rolling using arms.",
-    "Hold the cylindrical roller on the table with hands.",
-    "Place hands on the slim wooden roller and lift.",
-    "Pick up the smooth light brown roller using both arms.",
-    "Lift the brown roller with your arms.",
-    "Lift the smooth light brown roller from the table.",
-    "Take hold of the roller with smooth texture with both arms.",
-    "Grasp the roller with smooth texture on the table.",
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Lift the slim wooden roller from its place on the table",
-    "Secure the roller with smooth texture from the table using arms",
-    "Grasp the slim wooden roller on the table with arms.",
-    "Both arms should grab the roller for rolling now.",
-    "Pick up the long slim roller from the table directly.",
-    "Grab the palm-sized roller directly from the table.",
-    "Secure the palm-sized roller with both arms.",
-    "Use arms to firmly grab the slim wooden roller.",
-    "Reach for the smooth cylindrical roller and grab it firmly.",
-    "Grip the light wood roller firmly with arms.",
-    "Hold the narrow tapered roller firmly from the table.",
-    "Lift the smooth light brown roller off the table with both arms",
-    "Bring both arms to grab the slim wooden roller.",
-    "Securely grab the slim wooden roller using both arms.",
-    "Take the light wood roller directly from the table.",
-    "Pick up the smooth light brown roller using both arms equally",
-    "Grasp the cylindrical roller firmly with arms.",
-    "Grab the cylindrical roller placed on the table.",
-    "Firmly grip the brown roller on the table now.",
-    "Get hold of the cylindrical roller using your arms",
-    "Lift the roller with smooth texture off the table with arms.",
-    "Secure the slim wooden roller using your arms.",
-    "Hold the roller for rolling from the table.",
-    "Use both arms to grab the narrow tapered roller.",
-    "Secure the light wood roller on the table using arms.",
-    "Use arms to hold the roller for rolling tightly.",
-    "Take hold of the smooth light brown roller.",
-    "Pick up the smooth cylindrical roller from the table.",
-    "Reach out to grab the smooth light brown roller from the table",
-    "Take hold of the brown roller using your arms.",
-    "Lift the smooth light brown roller from the table carefully.",
-    "Use both arms to grip the narrow tapered roller tightly.",
-    "Hold the long slim roller with both arms to pick it up",
-    "Reach for the roller shaped like cylinder and hold it firmly",
-    "Take hold of the light wood roller with arms.",
-    "Take both arms to grasp the smooth cylindrical roller.",
-    "Firmly grab the narrow tapered roller using arms.",
-    "Hold the cylindrical roller on the table with hands.",
-    "Place hands on the light wood roller and lift.",
-    "Pick up the narrow tapered roller using both arms.",
-    "Lift the palm-sized roller with your arms.",
-    "Lift the slim wooden roller from the table.",
-    "Take hold of the roller shaped like cylinder with both arms.",
-    "Grasp the roller shaped like cylinder on the table.",
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Lift the palm-sized roller from its place on the table"
-  ],
-  "unseen": [
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller with both arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Hold the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode38.json b/grab_roller/franka_clean/instructions/episode38.json
deleted file mode 100644
index 29d426ddd18f87ec8275e6459eb4e3a599493eda..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode38.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Use arms to hold the palm-sized roller tightly.",
-    "Reach for the slim wooden roller and hold it firmly",
-    "Pick up the long slim roller using both arms.",
-    "Firmly grab the roller shaped like cylinder using arms.",
-    "Use both arms to grip the narrow tapered roller tightly.",
-    "Both arms should grab the roller shaped like cylinder now.",
-    "Lift the slim wooden roller with your arms.",
-    "Use arms to firmly grab the slim wooden roller.",
-    "Use both arms to grab the long slim roller.",
-    "Place hands on the long slim roller and lift.",
-    "Secure the roller shaped like cylinder from the table using arms",
-    "Hold the roller for rolling with both arms to pick it up",
-    "Hold the roller with smooth texture from the table.",
-    "Securely grab the roller for rolling using both arms.",
-    "Lift the palm-sized roller off the table with both arms",
-    "Take both arms to grasp the roller for rolling.",
-    "Grasp the palm-sized roller on the table.",
-    "Grip the roller shaped like cylinder firmly with arms.",
-    "Lift the smooth light brown roller from the table.",
-    "Reach for the long slim roller and grab it firmly.",
-    "Hold the light wood roller firmly from the table.",
-    "Get hold of the brown roller using your arms",
-    "Take hold of the brown roller with arms.",
-    "Grab the roller with smooth texture placed on the table.",
-    "Lift the roller shaped like cylinder from the table carefully.",
-    "Lift the smooth cylindrical roller off the table with arms.",
-    "Secure the slim wooden roller on the table using arms.",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Grasp the smooth light brown roller on the table with arms.",
-    "Take hold of the palm-sized roller with both arms.",
-    "Grasp the roller for rolling firmly with arms.",
-    "Grasp the cylindrical roller firmly from the table.",
-    "Pick up the narrow tapered roller from the table.",
-    "Take the slim wooden roller directly from the table.",
-    "Pick up the brown roller using both arms equally",
-    "Hold the light wood roller on the table with hands.",
-    "Bring both arms to grab the roller with smooth texture.",
-    "Grab the brown roller directly from the table.",
-    "Take hold of the cylindrical roller.",
-    "Lift the narrow tapered roller from its place on the table",
-    "Reach out to grab the narrow tapered roller from the table",
-    "Pick up the palm-sized roller from the table directly.",
-    "Take hold of the light wood roller using your arms.",
-    "Secure the roller with smooth texture with both arms.",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Use arms to hold the smooth cylindrical roller tightly.",
-    "Reach for the palm-sized roller and hold it firmly",
-    "Pick up the narrow tapered roller using both arms.",
-    "Firmly grab the cylindrical roller using arms.",
-    "Use both arms to grip the palm-sized roller tightly.",
-    "Both arms should grab the roller with smooth texture now.",
-    "Lift the smooth light brown roller with your arms.",
-    "Use arms to firmly grab the light wood roller.",
-    "Use both arms to grab the roller for rolling.",
-    "Place hands on the smooth light brown roller and lift.",
-    "Secure the slim wooden roller from the table using arms",
-    "Hold the palm-sized roller with both arms to pick it up",
-    "Hold the smooth light brown roller from the table.",
-    "Securely grab the smooth cylindrical roller using both arms.",
-    "Lift the slim wooden roller off the table with both arms",
-    "Take both arms to grasp the brown roller.",
-    "Grasp the smooth light brown roller on the table.",
-    "Grip the light wood roller firmly with arms.",
-    "Lift the slim wooden roller from the table.",
-    "Reach for the narrow tapered roller and grab it firmly.",
-    "Hold the smooth cylindrical roller firmly from the table.",
-    "Get hold of the roller for rolling using your arms",
-    "Take hold of the roller with smooth texture with arms.",
-    "Grab the slim wooden roller placed on the table.",
-    "Lift the roller shaped like cylinder from the table carefully.",
-    "Lift the narrow tapered roller off the table with arms.",
-    "Secure the smooth cylindrical roller on the table using arms.",
-    "Secure the cylindrical roller using your arms.",
-    "Grasp the palm-sized roller on the table with arms.",
-    "Take hold of the smooth cylindrical roller with both arms.",
-    "Grasp the cylindrical roller firmly with arms.",
-    "Grasp the roller for rolling firmly from the table.",
-    "Pick up the slim wooden roller from the table.",
-    "Take the slim wooden roller directly from the table.",
-    "Pick up the smooth light brown roller using both arms equally",
-    "Hold the roller with smooth texture on the table with hands.",
-    "Bring both arms to grab the narrow tapered roller.",
-    "Grab the palm-sized roller directly from the table.",
-    "Take hold of the roller shaped like cylinder.",
-    "Lift the cylindrical roller from its place on the table",
-    "Reach out to grab the cylindrical roller from the table",
-    "Pick up the narrow tapered roller from the table directly.",
-    "Take hold of the roller with smooth texture using your arms.",
-    "Secure the long slim roller with both arms.",
-    "Firmly grip the smooth light brown roller on the table now.",
-    "Use arms to hold the roller for rolling tightly.",
-    "Reach for the light wood roller and hold it firmly",
-    "Pick up the long slim roller using both arms.",
-    "Firmly grab the smooth cylindrical roller using arms.",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Both arms should grab the light wood roller now.",
-    "Lift the roller shaped like cylinder with your arms.",
-    "Use arms to firmly grab the palm-sized roller.",
-    "Use both arms to grab the palm-sized roller."
-  ],
-  "unseen": [
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode39.json b/grab_roller/franka_clean/instructions/episode39.json
deleted file mode 100644
index 1c42cc0af3880742c0c620cf0fea5894cb1cfb58..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode39.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Use arms to firmly grab the roller with smooth texture.",
-    "Use both arms to grab the long slim roller.",
-    "Hold the slim wooden roller firmly from the table.",
-    "Lift the brown roller from the table.",
-    "Secure the smooth light brown roller from the table using arms",
-    "Secure the roller shaped like cylinder on the table using arms.",
-    "Lift the smooth cylindrical roller off the table with arms.",
-    "Firmly grab the smooth cylindrical roller using arms.",
-    "Lift the palm-sized roller off the table with both arms",
-    "Place hands on the roller for rolling and lift.",
-    "Take the smooth cylindrical roller directly from the table.",
-    "Reach for the palm-sized roller and hold it firmly",
-    "Pick up the slim wooden roller using both arms.",
-    "Firmly grip the slim wooden roller on the table now.",
-    "Bring both arms to grab the cylindrical roller.",
-    "Take hold of the narrow tapered roller with both arms.",
-    "Grab the long slim roller placed on the table.",
-    "Use both arms to grip the light wood roller tightly.",
-    "Pick up the roller shaped like cylinder from the table directly.",
-    "Grip the cylindrical roller firmly with arms.",
-    "Hold the slim wooden roller on the table with hands.",
-    "Pick up the narrow tapered roller from the table.",
-    "Hold the cylindrical roller from the table.",
-    "Pick up the roller for rolling using both arms equally",
-    "Grasp the roller shaped like cylinder on the table with arms.",
-    "Get hold of the narrow tapered roller using your arms",
-    "Secure the roller with smooth texture with both arms.",
-    "Take hold of the palm-sized roller with arms.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Lift the smooth light brown roller from the table carefully.",
-    "Take hold of the palm-sized roller using your arms.",
-    "Both arms should grab the slim wooden roller now.",
-    "Secure the slim wooden roller using your arms.",
-    "Grasp the long slim roller on the table.",
-    "Lift the long slim roller with your arms.",
-    "Reach for the smooth cylindrical roller and grab it firmly.",
-    "Securely grab the roller shaped like cylinder using both arms.",
-    "Hold the cylindrical roller with both arms to pick it up",
-    "Grab the cylindrical roller directly from the table.",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Grasp the roller with smooth texture firmly with arms.",
-    "Grasp the roller with smooth texture firmly from the table.",
-    "Take hold of the roller shaped like cylinder.",
-    "Lift the roller for rolling from its place on the table",
-    "Use arms to hold the brown roller tightly.",
-    "Use arms to firmly grab the palm-sized roller.",
-    "Use both arms to grab the slim wooden roller.",
-    "Hold the roller shaped like cylinder firmly from the table.",
-    "Lift the smooth cylindrical roller from the table.",
-    "Secure the long slim roller from the table using arms",
-    "Secure the slim wooden roller on the table using arms.",
-    "Lift the narrow tapered roller off the table with arms.",
-    "Firmly grab the roller with smooth texture using arms.",
-    "Lift the roller shaped like cylinder off the table with both arms",
-    "Place hands on the smooth cylindrical roller and lift.",
-    "Take the long slim roller directly from the table.",
-    "Reach for the cylindrical roller and hold it firmly",
-    "Pick up the smooth light brown roller using both arms.",
-    "Firmly grip the roller with smooth texture on the table now.",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Take hold of the roller for rolling with both arms.",
-    "Grab the brown roller placed on the table.",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Pick up the light wood roller from the table directly.",
-    "Grip the roller shaped like cylinder firmly with arms.",
-    "Hold the slim wooden roller on the table with hands.",
-    "Pick up the cylindrical roller from the table.",
-    "Hold the long slim roller from the table.",
-    "Pick up the smooth cylindrical roller using both arms equally",
-    "Grasp the smooth light brown roller on the table with arms.",
-    "Get hold of the slim wooden roller using your arms",
-    "Secure the roller for rolling with both arms.",
-    "Take hold of the slim wooden roller with arms.",
-    "Reach out to grab the smooth light brown roller from the table",
-    "Lift the palm-sized roller from the table carefully.",
-    "Take hold of the smooth cylindrical roller using your arms.",
-    "Both arms should grab the palm-sized roller now.",
-    "Secure the light wood roller using your arms.",
-    "Grasp the roller for rolling on the table.",
-    "Lift the long slim roller with your arms.",
-    "Reach for the palm-sized roller and grab it firmly.",
-    "Securely grab the cylindrical roller using both arms.",
-    "Hold the long slim roller with both arms to pick it up",
-    "Grab the roller shaped like cylinder directly from the table.",
-    "Take both arms to grasp the slim wooden roller.",
-    "Grasp the palm-sized roller firmly with arms.",
-    "Grasp the roller for rolling firmly from the table.",
-    "Take hold of the roller for rolling.",
-    "Lift the narrow tapered roller from its place on the table",
-    "Use arms to hold the long slim roller tightly.",
-    "Use arms to firmly grab the roller for rolling.",
-    "Use both arms to grab the palm-sized roller.",
-    "Hold the light wood roller firmly from the table.",
-    "Lift the light wood roller from the table.",
-    "Secure the roller for rolling from the table using arms",
-    "Secure the light wood roller on the table using arms.",
-    "Lift the roller with smooth texture off the table with arms.",
-    "Firmly grab the slim wooden roller using arms.",
-    "Lift the smooth light brown roller off the table with both arms",
-    "Place hands on the slim wooden roller and lift."
-  ],
-  "unseen": [
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Reach and grab the light brown wooden roller with both arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode4.json b/grab_roller/franka_clean/instructions/episode4.json
deleted file mode 100644
index 9bdfd6d1f40ec27ba7ef74e073db732ec9d9a7bb..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode4.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Take hold of the roller shaped like cylinder with arms.",
-    "Use arms to hold the long slim roller tightly.",
-    "Grab the light wood roller placed on the table.",
-    "Pick up the long slim roller using both arms.",
-    "Get hold of the roller for rolling using your arms",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Pick up the roller with smooth texture from the table directly.",
-    "Grasp the smooth light brown roller firmly with arms.",
-    "Pick up the roller for rolling from the table.",
-    "Secure the cylindrical roller with both arms.",
-    "Take hold of the cylindrical roller with both arms.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Use arms to firmly grab the brown roller.",
-    "Hold the palm-sized roller on the table with hands.",
-    "Reach out to grab the long slim roller from the table",
-    "Lift the roller with smooth texture from the table.",
-    "Take hold of the smooth cylindrical roller.",
-    "Lift the long slim roller with your arms.",
-    "Securely grab the narrow tapered roller using both arms.",
-    "Place hands on the smooth light brown roller and lift.",
-    "Grip the roller shaped like cylinder firmly with arms.",
-    "Lift the light wood roller from the table carefully.",
-    "Lift the cylindrical roller off the table with arms.",
-    "Take both arms to grasp the light wood roller.",
-    "Reach for the palm-sized roller and hold it firmly",
-    "Take the light wood roller directly from the table.",
-    "Grasp the cylindrical roller firmly from the table.",
-    "Secure the cylindrical roller from the table using arms",
-    "Hold the slim wooden roller firmly from the table.",
-    "Bring both arms to grab the slim wooden roller.",
-    "Both arms should grab the smooth cylindrical roller now.",
-    "Firmly grab the roller with smooth texture using arms.",
-    "Use both arms to grip the roller with smooth texture tightly.",
-    "Pick up the long slim roller using both arms equally",
-    "Lift the roller with smooth texture off the table with both arms",
-    "Reach for the long slim roller and grab it firmly.",
-    "Grasp the slim wooden roller on the table with arms.",
-    "Use both arms to grab the long slim roller.",
-    "Firmly grip the brown roller on the table now.",
-    "Grasp the smooth cylindrical roller on the table.",
-    "Take hold of the slim wooden roller using your arms.",
-    "Lift the long slim roller from its place on the table",
-    "Hold the smooth light brown roller with both arms to pick it up",
-    "Hold the slim wooden roller from the table.",
-    "Grab the cylindrical roller directly from the table.",
-    "Take hold of the roller shaped like cylinder with arms.",
-    "Use arms to hold the smooth cylindrical roller tightly.",
-    "Grab the slim wooden roller placed on the table.",
-    "Pick up the narrow tapered roller using both arms.",
-    "Get hold of the slim wooden roller using your arms",
-    "Secure the slim wooden roller using your arms.",
-    "Pick up the smooth light brown roller from the table directly.",
-    "Grasp the slim wooden roller firmly with arms.",
-    "Pick up the brown roller from the table.",
-    "Secure the brown roller with both arms.",
-    "Take hold of the narrow tapered roller with both arms.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Use arms to firmly grab the long slim roller.",
-    "Hold the palm-sized roller on the table with hands.",
-    "Reach out to grab the cylindrical roller from the table",
-    "Lift the narrow tapered roller from the table.",
-    "Take hold of the light wood roller.",
-    "Lift the cylindrical roller with your arms.",
-    "Securely grab the slim wooden roller using both arms.",
-    "Place hands on the light wood roller and lift.",
-    "Grip the narrow tapered roller firmly with arms.",
-    "Lift the palm-sized roller from the table carefully.",
-    "Lift the long slim roller off the table with arms.",
-    "Take both arms to grasp the long slim roller.",
-    "Reach for the smooth cylindrical roller and hold it firmly",
-    "Take the smooth light brown roller directly from the table.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Secure the cylindrical roller from the table using arms",
-    "Hold the light wood roller firmly from the table.",
-    "Bring both arms to grab the slim wooden roller.",
-    "Both arms should grab the smooth light brown roller now.",
-    "Firmly grab the palm-sized roller using arms.",
-    "Use both arms to grip the light wood roller tightly.",
-    "Pick up the roller for rolling using both arms equally",
-    "Lift the smooth cylindrical roller off the table with both arms",
-    "Reach for the roller for rolling and grab it firmly.",
-    "Grasp the palm-sized roller on the table with arms.",
-    "Use both arms to grab the roller shaped like cylinder.",
-    "Firmly grip the long slim roller on the table now.",
-    "Grasp the long slim roller on the table.",
-    "Take hold of the slim wooden roller using your arms.",
-    "Lift the roller with smooth texture from its place on the table",
-    "Hold the smooth cylindrical roller with both arms to pick it up",
-    "Hold the palm-sized roller from the table.",
-    "Grab the roller with smooth texture directly from the table.",
-    "Take hold of the smooth light brown roller with arms.",
-    "Use arms to hold the roller with smooth texture tightly.",
-    "Grab the narrow tapered roller placed on the table.",
-    "Pick up the roller with smooth texture using both arms.",
-    "Get hold of the roller for rolling using your arms",
-    "Secure the smooth cylindrical roller using your arms.",
-    "Pick up the light wood roller from the table directly.",
-    "Grasp the long slim roller firmly with arms.",
-    "Pick up the brown roller from the table.",
-    "Secure the long slim roller with both arms."
-  ],
-  "unseen": [
-    "Grab the roller with tapered ends on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode40.json b/grab_roller/franka_clean/instructions/episode40.json
deleted file mode 100644
index 3f7690743e121891711589446ae57931f5e19681..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode40.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Use both arms to grip the medium roller with narrower tips tightly.",
-    "Take the roller with polished surface directly from the table.",
-    "Grasp the light brown wooden roller firmly with arms.",
-    "Lift the cylindrical roller with tapered ends from its place on the table",
-    "Secure the medium roller with narrower tips from the table using arms",
-    "Take hold of the roller with polished surface with both arms.",
-    "Lift the medium roller with narrower tips with your arms.",
-    "Hold the roller with polished surface on the table with hands.",
-    "Bring both arms to grab the roller with polished surface.",
-    "Lift the light brown wooden roller from the table carefully.",
-    "Reach out to grab the wood roller from the table",
-    "Grasp the light brown roller on the table with arms.",
-    "Pick up the roller for smoothing materials from the table directly.",
-    "Use both arms to grab the wooden rolling tool.",
-    "Grasp the roller for smoothing materials on the table.",
-    "Take both arms to grasp the light brown roller.",
-    "Lift the roller with polished surface off the table with both arms",
-    "Firmly grip the roller with polished surface on the table now.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Lift the roller for smoothing materials off the table with arms.",
-    "Take hold of the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms to pick it up",
-    "Firmly grab the roller with smooth and shiny texture using arms.",
-    "Pick up the wood roller using both arms equally",
-    "Grip the palm-length roller firmly with arms.",
-    "Secure the palm-length roller on the table using arms.",
-    "Hold the roller with polished surface firmly from the table.",
-    "Secure the medium roller with narrower tips using your arms.",
-    "Lift the roller with polished surface from the table.",
-    "Grab the medium-sized roller placed on the table.",
-    "Use arms to hold the wood roller tightly.",
-    "Reach for the roller with polished surface and hold it firmly",
-    "Take hold of the medium roller with narrower tips using your arms.",
-    "Pick up the wooden rolling tool using both arms.",
-    "Pick up the roller for smoothing materials from the table.",
-    "Hold the light brown wooden roller from the table.",
-    "Reach for the wooden rolling tool and grab it firmly.",
-    "Place hands on the palm-length roller and lift.",
-    "Both arms should grab the wood roller now.",
-    "Get hold of the roller with polished surface using your arms",
-    "Secure the wooden rolling tool with both arms.",
-    "Securely grab the solid wood roller using both arms.",
-    "Use arms to firmly grab the palm-length roller.",
-    "Take hold of the cylindrical roller with tapered ends with arms.",
-    "Grab the wooden rolling tool directly from the table.",
-    "Use both arms to grip the roller with polished surface tightly.",
-    "Take the roller with polished surface directly from the table.",
-    "Grasp the solid wood roller firmly with arms.",
-    "Lift the light brown roller from its place on the table",
-    "Secure the light brown wooden roller from the table using arms",
-    "Take hold of the roller with smooth and shiny texture with both arms.",
-    "Lift the wooden rolling tool with your arms.",
-    "Hold the wooden rolling tool on the table with hands.",
-    "Bring both arms to grab the roller with smooth and shiny texture.",
-    "Lift the wood roller from the table carefully.",
-    "Reach out to grab the palm-length roller from the table",
-    "Grasp the medium roller with narrower tips on the table with arms.",
-    "Pick up the medium roller with narrower tips from the table directly.",
-    "Use both arms to grab the light brown roller.",
-    "Grasp the roller for smoothing materials on the table.",
-    "Take both arms to grasp the light brown wooden roller.",
-    "Lift the medium roller with narrower tips off the table with both arms",
-    "Firmly grip the light brown wooden roller on the table now.",
-    "Grasp the solid wood roller firmly from the table.",
-    "Lift the roller with polished surface off the table with arms.",
-    "Take hold of the cylindrical roller with tapered ends.",
-    "Hold the medium roller with narrower tips with both arms to pick it up",
-    "Firmly grab the roller with polished surface using arms.",
-    "Pick up the solid wood roller using both arms equally",
-    "Grip the light brown roller firmly with arms.",
-    "Secure the roller with polished surface on the table using arms.",
-    "Hold the wooden rolling tool firmly from the table.",
-    "Secure the wooden rolling tool using your arms.",
-    "Lift the roller for smoothing materials from the table.",
-    "Grab the roller with smooth and shiny texture placed on the table.",
-    "Use arms to hold the light brown wooden roller tightly.",
-    "Reach for the light brown wooden roller and hold it firmly",
-    "Take hold of the medium-sized roller using your arms.",
-    "Pick up the palm-length roller using both arms.",
-    "Pick up the roller with polished surface from the table.",
-    "Hold the palm-length roller from the table.",
-    "Reach for the medium roller with narrower tips and grab it firmly.",
-    "Place hands on the medium-sized roller and lift.",
-    "Both arms should grab the roller for smoothing materials now.",
-    "Get hold of the roller for smoothing materials using your arms",
-    "Secure the light brown roller with both arms.",
-    "Securely grab the roller with polished surface using both arms.",
-    "Use arms to firmly grab the roller with polished surface.",
-    "Take hold of the roller for smoothing materials with arms.",
-    "Grab the light brown wooden roller directly from the table.",
-    "Use both arms to grip the wood roller tightly.",
-    "Take the solid wood roller directly from the table.",
-    "Grasp the wood roller firmly with arms.",
-    "Lift the wood roller from its place on the table",
-    "Secure the light brown wooden roller from the table using arms",
-    "Take hold of the medium roller with narrower tips with both arms.",
-    "Lift the palm-length roller with your arms.",
-    "Hold the wood roller on the table with hands.",
-    "Bring both arms to grab the wooden rolling tool.",
-    "Lift the wood roller from the table carefully."
-  ],
-  "unseen": [
-    "Use arms to grab the light brown cylindrical roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode41.json b/grab_roller/franka_clean/instructions/episode41.json
deleted file mode 100644
index b154172c4f3799c57c0d75f3535811968e659ded..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode41.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Reach for the palm-sized roller and grab it firmly.",
-    "Grip the roller with smooth texture firmly with arms.",
-    "Grasp the roller shaped like cylinder firmly with arms.",
-    "Hold the smooth light brown roller with both arms to pick it up",
-    "Use arms to hold the long slim roller tightly.",
-    "Hold the cylindrical roller on the table with hands.",
-    "Pick up the narrow tapered roller from the table directly.",
-    "Reach for the brown roller and hold it firmly",
-    "Grab the roller for rolling placed on the table.",
-    "Take the smooth light brown roller directly from the table.",
-    "Hold the brown roller firmly from the table.",
-    "Get hold of the palm-sized roller using your arms",
-    "Lift the brown roller from the table.",
-    "Grasp the long slim roller on the table with arms.",
-    "Pick up the roller with smooth texture using both arms equally",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Hold the roller for rolling from the table.",
-    "Secure the long slim roller with both arms.",
-    "Securely grab the roller for rolling using both arms.",
-    "Bring both arms to grab the light wood roller.",
-    "Lift the roller shaped like cylinder from the table carefully.",
-    "Lift the roller for rolling with your arms.",
-    "Secure the long slim roller from the table using arms",
-    "Take hold of the brown roller with arms.",
-    "Firmly grab the narrow tapered roller using arms.",
-    "Take both arms to grasp the roller for rolling.",
-    "Place hands on the smooth cylindrical roller and lift.",
-    "Take hold of the brown roller with both arms.",
-    "Pick up the cylindrical roller from the table.",
-    "Grasp the cylindrical roller on the table.",
-    "Pick up the roller with smooth texture using both arms.",
-    "Lift the slim wooden roller off the table with both arms",
-    "Use both arms to grab the slim wooden roller.",
-    "Lift the narrow tapered roller from its place on the table",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Firmly grip the light wood roller on the table now.",
-    "Both arms should grab the brown roller now.",
-    "Take hold of the palm-sized roller.",
-    "Grasp the smooth light brown roller firmly from the table.",
-    "Secure the narrow tapered roller on the table using arms.",
-    "Use arms to firmly grab the cylindrical roller.",
-    "Reach out to grab the slim wooden roller from the table",
-    "Take hold of the palm-sized roller using your arms.",
-    "Lift the cylindrical roller off the table with arms.",
-    "Grab the roller for rolling directly from the table.",
-    "Reach for the light wood roller and grab it firmly.",
-    "Grip the brown roller firmly with arms.",
-    "Grasp the roller with smooth texture firmly with arms.",
-    "Hold the roller shaped like cylinder with both arms to pick it up",
-    "Use arms to hold the brown roller tightly.",
-    "Hold the roller shaped like cylinder on the table with hands.",
-    "Pick up the brown roller from the table directly.",
-    "Reach for the roller with smooth texture and hold it firmly",
-    "Grab the smooth light brown roller placed on the table.",
-    "Take the roller with smooth texture directly from the table.",
-    "Hold the smooth cylindrical roller firmly from the table.",
-    "Get hold of the smooth cylindrical roller using your arms",
-    "Lift the roller shaped like cylinder from the table.",
-    "Grasp the smooth cylindrical roller on the table with arms.",
-    "Pick up the brown roller using both arms equally",
-    "Secure the long slim roller using your arms.",
-    "Hold the narrow tapered roller from the table.",
-    "Secure the roller shaped like cylinder with both arms.",
-    "Securely grab the narrow tapered roller using both arms.",
-    "Bring both arms to grab the roller for rolling.",
-    "Lift the roller with smooth texture from the table carefully.",
-    "Lift the palm-sized roller with your arms.",
-    "Secure the palm-sized roller from the table using arms",
-    "Take hold of the smooth cylindrical roller with arms.",
-    "Firmly grab the cylindrical roller using arms.",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Place hands on the roller for rolling and lift.",
-    "Take hold of the roller with smooth texture with both arms.",
-    "Pick up the long slim roller from the table.",
-    "Grasp the smooth light brown roller on the table.",
-    "Pick up the cylindrical roller using both arms.",
-    "Lift the smooth cylindrical roller off the table with both arms",
-    "Use both arms to grab the brown roller.",
-    "Lift the light wood roller from its place on the table",
-    "Use both arms to grip the light wood roller tightly.",
-    "Firmly grip the roller with smooth texture on the table now.",
-    "Both arms should grab the slim wooden roller now.",
-    "Take hold of the roller for rolling.",
-    "Grasp the palm-sized roller firmly from the table.",
-    "Secure the slim wooden roller on the table using arms.",
-    "Use arms to firmly grab the narrow tapered roller.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Take hold of the palm-sized roller using your arms.",
-    "Lift the smooth cylindrical roller off the table with arms.",
-    "Grab the cylindrical roller directly from the table.",
-    "Reach for the long slim roller and grab it firmly.",
-    "Grip the brown roller firmly with arms.",
-    "Grasp the palm-sized roller firmly with arms.",
-    "Hold the roller for rolling with both arms to pick it up",
-    "Use arms to hold the light wood roller tightly.",
-    "Hold the roller for rolling on the table with hands.",
-    "Pick up the brown roller from the table directly.",
-    "Reach for the roller for rolling and hold it firmly",
-    "Grab the light wood roller placed on the table.",
-    "Take the narrow tapered roller directly from the table."
-  ],
-  "unseen": [
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode42.json b/grab_roller/franka_clean/instructions/episode42.json
deleted file mode 100644
index 52864c4d40508424bc014c5b42eb9d8ed8430354..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode42.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Pick up the palm-length roller using both arms.",
-    "Get hold of the solid wood roller using your arms",
-    "Hold the solid wood roller firmly from the table.",
-    "Grab the wooden rolling tool placed on the table.",
-    "Lift the wood roller with your arms.",
-    "Hold the wooden rolling tool on the table with hands.",
-    "Grasp the light brown wooden roller firmly from the table.",
-    "Lift the palm-length roller off the table with both arms",
-    "Grasp the light brown wooden roller on the table.",
-    "Place hands on the roller for smoothing materials and lift.",
-    "Use arms to hold the solid wood roller tightly.",
-    "Hold the roller with smooth and shiny texture from the table.",
-    "Take hold of the medium-sized roller.",
-    "Lift the palm-length roller from the table carefully.",
-    "Take hold of the light brown wooden roller with both arms.",
-    "Firmly grip the light brown roller on the table now.",
-    "Pick up the light brown wooden roller from the table.",
-    "Lift the light brown wooden roller from its place on the table",
-    "Grip the roller for smoothing materials firmly with arms.",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Take hold of the roller for smoothing materials using your arms.",
-    "Secure the palm-length roller on the table using arms.",
-    "Reach for the medium roller with narrower tips and grab it firmly.",
-    "Lift the medium-sized roller off the table with arms.",
-    "Use both arms to grip the palm-length roller tightly.",
-    "Hold the light brown roller with both arms to pick it up",
-    "Take both arms to grasp the wooden rolling tool.",
-    "Lift the roller with polished surface from the table.",
-    "Use both arms to grab the wood roller.",
-    "Firmly grab the wood roller using arms.",
-    "Take the medium roller with narrower tips directly from the table.",
-    "Grasp the cylindrical roller with tapered ends firmly with arms.",
-    "Both arms should grab the palm-length roller now.",
-    "Secure the medium-sized roller from the table using arms",
-    "Take hold of the palm-length roller with arms.",
-    "Grasp the light brown wooden roller on the table with arms.",
-    "Secure the wooden rolling tool using your arms.",
-    "Pick up the roller with polished surface from the table directly.",
-    "Secure the light brown roller with both arms.",
-    "Grab the roller with smooth and shiny texture directly from the table.",
-    "Securely grab the roller for smoothing materials using both arms.",
-    "Use arms to firmly grab the roller for smoothing materials.",
-    "Bring both arms to grab the wood roller.",
-    "Pick up the wooden rolling tool using both arms equally",
-    "Reach for the light brown roller and hold it firmly",
-    "Pick up the roller with smooth and shiny texture using both arms.",
-    "Get hold of the wooden rolling tool using your arms",
-    "Hold the medium-sized roller firmly from the table.",
-    "Grab the solid wood roller placed on the table.",
-    "Lift the solid wood roller with your arms.",
-    "Hold the medium-sized roller on the table with hands.",
-    "Grasp the roller with polished surface firmly from the table.",
-    "Lift the palm-length roller off the table with both arms",
-    "Grasp the cylindrical roller with tapered ends on the table.",
-    "Place hands on the medium-sized roller and lift.",
-    "Use arms to hold the roller with smooth and shiny texture tightly.",
-    "Hold the wood roller from the table.",
-    "Take hold of the cylindrical roller with tapered ends.",
-    "Lift the light brown roller from the table carefully.",
-    "Take hold of the roller for smoothing materials with both arms.",
-    "Firmly grip the light brown roller on the table now.",
-    "Pick up the wood roller from the table.",
-    "Lift the medium-sized roller from its place on the table",
-    "Grip the wooden rolling tool firmly with arms.",
-    "Reach out to grab the roller with smooth and shiny texture from the table",
-    "Take hold of the roller with smooth and shiny texture using your arms.",
-    "Secure the roller with smooth and shiny texture on the table using arms.",
-    "Reach for the palm-length roller and grab it firmly.",
-    "Lift the roller with polished surface off the table with arms.",
-    "Use both arms to grip the medium-sized roller tightly.",
-    "Hold the medium-sized roller with both arms to pick it up",
-    "Take both arms to grasp the roller with polished surface.",
-    "Lift the wood roller from the table.",
-    "Use both arms to grab the palm-length roller.",
-    "Firmly grab the cylindrical roller with tapered ends using arms.",
-    "Take the palm-length roller directly from the table.",
-    "Grasp the cylindrical roller with tapered ends firmly with arms.",
-    "Both arms should grab the roller with smooth and shiny texture now.",
-    "Secure the light brown wooden roller from the table using arms",
-    "Take hold of the wooden rolling tool with arms.",
-    "Grasp the light brown wooden roller on the table with arms.",
-    "Secure the medium roller with narrower tips using your arms.",
-    "Pick up the solid wood roller from the table directly.",
-    "Secure the palm-length roller with both arms.",
-    "Grab the light brown roller directly from the table.",
-    "Securely grab the light brown roller using both arms.",
-    "Use arms to firmly grab the wood roller.",
-    "Bring both arms to grab the wood roller.",
-    "Pick up the roller with smooth and shiny texture using both arms equally",
-    "Reach for the cylindrical roller with tapered ends and hold it firmly",
-    "Pick up the light brown roller using both arms.",
-    "Get hold of the light brown roller using your arms",
-    "Hold the cylindrical roller with tapered ends firmly from the table.",
-    "Grab the medium roller with narrower tips placed on the table.",
-    "Lift the medium roller with narrower tips with your arms.",
-    "Hold the cylindrical roller with tapered ends on the table with hands.",
-    "Grasp the solid wood roller firmly from the table.",
-    "Lift the cylindrical roller with tapered ends off the table with both arms",
-    "Grasp the solid wood roller on the table.",
-    "Place hands on the palm-length roller and lift."
-  ],
-  "unseen": [
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use arms to grab the smooth wooden roller."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode43.json b/grab_roller/franka_clean/instructions/episode43.json
deleted file mode 100644
index d64de1fe2ce69ce8edbddff9da70e1e9056852c8..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode43.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Lift the narrow tapered roller off the table with arms.",
-    "Use arms to firmly grab the roller shaped like cylinder.",
-    "Firmly grip the roller with smooth texture on the table now.",
-    "Secure the light wood roller on the table using arms.",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Get hold of the brown roller using your arms",
-    "Reach for the roller with smooth texture and grab it firmly.",
-    "Grab the smooth light brown roller placed on the table.",
-    "Grasp the brown roller on the table with arms.",
-    "Grasp the smooth light brown roller on the table.",
-    "Secure the slim wooden roller using your arms.",
-    "Lift the smooth light brown roller with your arms.",
-    "Firmly grab the brown roller using arms.",
-    "Lift the roller with smooth texture from its place on the table",
-    "Pick up the smooth light brown roller from the table directly.",
-    "Lift the smooth light brown roller from the table.",
-    "Hold the smooth cylindrical roller firmly from the table.",
-    "Use both arms to grab the brown roller.",
-    "Grasp the long slim roller firmly with arms.",
-    "Hold the brown roller with both arms to pick it up",
-    "Use arms to hold the palm-sized roller tightly.",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Take hold of the roller shaped like cylinder with arms.",
-    "Lift the roller for rolling off the table with both arms",
-    "Take hold of the roller for rolling using your arms.",
-    "Pick up the slim wooden roller from the table.",
-    "Take the roller shaped like cylinder directly from the table.",
-    "Reach for the brown roller and hold it firmly",
-    "Pick up the long slim roller using both arms equally",
-    "Bring both arms to grab the brown roller.",
-    "Hold the roller for rolling from the table.",
-    "Place hands on the narrow tapered roller and lift.",
-    "Secure the roller shaped like cylinder with both arms.",
-    "Pick up the roller with smooth texture using both arms.",
-    "Lift the light wood roller from the table carefully.",
-    "Securely grab the smooth cylindrical roller using both arms.",
-    "Secure the smooth cylindrical roller from the table using arms",
-    "Take hold of the palm-sized roller.",
-    "Grip the brown roller firmly with arms.",
-    "Reach out to grab the smooth light brown roller from the table",
-    "Grab the roller for rolling directly from the table.",
-    "Both arms should grab the light wood roller now.",
-    "Take hold of the slim wooden roller with both arms.",
-    "Hold the roller for rolling on the table with hands.",
-    "Lift the light wood roller off the table with arms.",
-    "Use arms to firmly grab the cylindrical roller.",
-    "Firmly grip the roller for rolling on the table now.",
-    "Secure the smooth light brown roller on the table using arms.",
-    "Use both arms to grip the smooth cylindrical roller tightly.",
-    "Grasp the brown roller firmly from the table.",
-    "Get hold of the slim wooden roller using your arms",
-    "Reach for the long slim roller and grab it firmly.",
-    "Grab the smooth cylindrical roller placed on the table.",
-    "Grasp the narrow tapered roller on the table with arms.",
-    "Grasp the narrow tapered roller on the table.",
-    "Secure the roller with smooth texture using your arms.",
-    "Lift the long slim roller with your arms.",
-    "Firmly grab the cylindrical roller using arms.",
-    "Lift the cylindrical roller from its place on the table",
-    "Pick up the cylindrical roller from the table directly.",
-    "Lift the slim wooden roller from the table.",
-    "Hold the brown roller firmly from the table.",
-    "Use both arms to grab the brown roller.",
-    "Grasp the light wood roller firmly with arms.",
-    "Hold the palm-sized roller with both arms to pick it up",
-    "Use arms to hold the roller for rolling tightly.",
-    "Take both arms to grasp the smooth cylindrical roller.",
-    "Take hold of the smooth cylindrical roller with arms.",
-    "Lift the light wood roller off the table with both arms",
-    "Take hold of the roller with smooth texture using your arms.",
-    "Pick up the slim wooden roller from the table.",
-    "Take the roller with smooth texture directly from the table.",
-    "Reach for the palm-sized roller and hold it firmly",
-    "Pick up the brown roller using both arms equally",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Hold the palm-sized roller from the table.",
-    "Place hands on the cylindrical roller and lift.",
-    "Secure the roller with smooth texture with both arms.",
-    "Pick up the brown roller using both arms.",
-    "Lift the light wood roller from the table carefully.",
-    "Securely grab the narrow tapered roller using both arms.",
-    "Secure the light wood roller from the table using arms",
-    "Take hold of the roller for rolling.",
-    "Grip the long slim roller firmly with arms.",
-    "Reach out to grab the roller with smooth texture from the table",
-    "Grab the roller for rolling directly from the table.",
-    "Both arms should grab the brown roller now.",
-    "Take hold of the roller for rolling with both arms.",
-    "Hold the roller with smooth texture on the table with hands.",
-    "Lift the smooth cylindrical roller off the table with arms.",
-    "Use arms to firmly grab the smooth cylindrical roller.",
-    "Firmly grip the smooth light brown roller on the table now.",
-    "Secure the slim wooden roller on the table using arms.",
-    "Use both arms to grip the smooth light brown roller tightly.",
-    "Grasp the long slim roller firmly from the table.",
-    "Get hold of the narrow tapered roller using your arms",
-    "Reach for the light wood roller and grab it firmly.",
-    "Grab the palm-sized roller placed on the table.",
-    "Grasp the smooth cylindrical roller on the table with arms."
-  ],
-  "unseen": [
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Use both arms to grab the roller with tapered ends."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode44.json b/grab_roller/franka_clean/instructions/episode44.json
deleted file mode 100644
index 2912fda43736a6e723f966b143e191bce03bc02e..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode44.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Reach for the slim wooden roller and hold it firmly",
-    "Grasp the roller shaped like cylinder on the table with arms.",
-    "Secure the brown roller with both arms.",
-    "Use arms to firmly grab the light wood roller.",
-    "Grab the slim wooden roller placed on the table.",
-    "Reach for the light wood roller and grab it firmly.",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Use both arms to grab the narrow tapered roller.",
-    "Both arms should grab the slim wooden roller now.",
-    "Reach out to grab the long slim roller from the table",
-    "Firmly grip the roller for rolling on the table now.",
-    "Lift the smooth light brown roller from its place on the table",
-    "Lift the light wood roller off the table with both arms",
-    "Use arms to hold the palm-sized roller tightly.",
-    "Take hold of the smooth cylindrical roller.",
-    "Take hold of the narrow tapered roller with both arms.",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Take hold of the roller with smooth texture with arms.",
-    "Pick up the smooth light brown roller from the table.",
-    "Lift the narrow tapered roller from the table.",
-    "Hold the roller with smooth texture on the table with hands.",
-    "Grasp the roller for rolling firmly with arms.",
-    "Lift the roller for rolling from the table carefully.",
-    "Hold the smooth cylindrical roller from the table.",
-    "Take hold of the brown roller using your arms.",
-    "Place hands on the roller for rolling and lift.",
-    "Pick up the long slim roller from the table directly.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Pick up the cylindrical roller using both arms.",
-    "Lift the palm-sized roller with your arms.",
-    "Bring both arms to grab the smooth light brown roller.",
-    "Use both arms to grip the roller shaped like cylinder tightly.",
-    "Firmly grab the narrow tapered roller using arms.",
-    "Hold the light wood roller with both arms to pick it up",
-    "Secure the roller shaped like cylinder from the table using arms",
-    "Hold the slim wooden roller firmly from the table.",
-    "Grab the light wood roller directly from the table.",
-    "Take the roller shaped like cylinder directly from the table.",
-    "Grip the roller for rolling firmly with arms.",
-    "Lift the smooth light brown roller off the table with arms.",
-    "Pick up the roller with smooth texture using both arms equally",
-    "Grasp the smooth light brown roller on the table.",
-    "Securely grab the brown roller using both arms.",
-    "Get hold of the roller shaped like cylinder using your arms",
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Reach for the slim wooden roller and hold it firmly",
-    "Grasp the cylindrical roller on the table with arms.",
-    "Secure the slim wooden roller with both arms.",
-    "Use arms to firmly grab the cylindrical roller.",
-    "Grab the light wood roller placed on the table.",
-    "Reach for the smooth cylindrical roller and grab it firmly.",
-    "Take both arms to grasp the slim wooden roller.",
-    "Use both arms to grab the roller for rolling.",
-    "Both arms should grab the roller for rolling now.",
-    "Reach out to grab the roller with smooth texture from the table",
-    "Firmly grip the smooth light brown roller on the table now.",
-    "Lift the smooth cylindrical roller from its place on the table",
-    "Lift the smooth light brown roller off the table with both arms",
-    "Use arms to hold the light wood roller tightly.",
-    "Take hold of the smooth cylindrical roller.",
-    "Take hold of the roller for rolling with both arms.",
-    "Secure the roller shaped like cylinder using your arms.",
-    "Take hold of the palm-sized roller with arms.",
-    "Pick up the roller shaped like cylinder from the table.",
-    "Lift the roller for rolling from the table.",
-    "Hold the smooth light brown roller on the table with hands.",
-    "Grasp the long slim roller firmly with arms.",
-    "Lift the brown roller from the table carefully.",
-    "Hold the brown roller from the table.",
-    "Take hold of the long slim roller using your arms.",
-    "Place hands on the roller with smooth texture and lift.",
-    "Pick up the light wood roller from the table directly.",
-    "Secure the roller with smooth texture on the table using arms.",
-    "Pick up the long slim roller using both arms.",
-    "Lift the light wood roller with your arms.",
-    "Bring both arms to grab the slim wooden roller.",
-    "Use both arms to grip the light wood roller tightly.",
-    "Firmly grab the light wood roller using arms.",
-    "Hold the cylindrical roller with both arms to pick it up",
-    "Secure the palm-sized roller from the table using arms",
-    "Hold the smooth cylindrical roller firmly from the table.",
-    "Grab the cylindrical roller directly from the table.",
-    "Take the cylindrical roller directly from the table.",
-    "Grip the roller shaped like cylinder firmly with arms.",
-    "Lift the long slim roller off the table with arms.",
-    "Pick up the long slim roller using both arms equally",
-    "Grasp the roller shaped like cylinder on the table.",
-    "Securely grab the slim wooden roller using both arms.",
-    "Get hold of the smooth light brown roller using your arms",
-    "Grasp the brown roller firmly from the table.",
-    "Reach for the smooth light brown roller and hold it firmly",
-    "Grasp the palm-sized roller on the table with arms.",
-    "Secure the roller with smooth texture with both arms.",
-    "Use arms to firmly grab the long slim roller.",
-    "Grab the roller shaped like cylinder placed on the table.",
-    "Reach for the roller for rolling and grab it firmly.",
-    "Take both arms to grasp the roller with smooth texture.",
-    "Use both arms to grab the roller for rolling.",
-    "Both arms should grab the smooth light brown roller now."
-  ],
-  "unseen": [
-    "Grab the wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode45.json b/grab_roller/franka_clean/instructions/episode45.json
deleted file mode 100644
index cf9c36269918131748ca9bc2c9a5a52e30500f79..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode45.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Lift the palm-length roller from the table.",
-    "Grasp the medium roller with narrower tips firmly from the table.",
-    "Grasp the roller with smooth and shiny texture on the table.",
-    "Use both arms to grab the roller with smooth and shiny texture.",
-    "Pick up the solid wood roller using both arms equally",
-    "Lift the medium roller with narrower tips from the table carefully.",
-    "Reach out to grab the wooden rolling tool from the table",
-    "Take hold of the roller with smooth and shiny texture using your arms.",
-    "Use both arms to grip the roller with polished surface tightly.",
-    "Hold the roller with polished surface on the table with hands.",
-    "Hold the light brown wooden roller with both arms to pick it up",
-    "Place hands on the roller with polished surface and lift.",
-    "Take hold of the medium-sized roller with both arms.",
-    "Lift the roller for smoothing materials from its place on the table",
-    "Pick up the solid wood roller from the table.",
-    "Reach for the light brown wooden roller and hold it firmly",
-    "Pick up the light brown roller using both arms.",
-    "Lift the medium roller with narrower tips off the table with arms.",
-    "Reach for the wooden rolling tool and grab it firmly.",
-    "Both arms should grab the roller for smoothing materials now.",
-    "Take the roller with polished surface directly from the table.",
-    "Take hold of the light brown roller with arms.",
-    "Hold the light brown roller from the table.",
-    "Take both arms to grasp the roller for smoothing materials.",
-    "Grab the wood roller directly from the table.",
-    "Use arms to hold the cylindrical roller with tapered ends tightly.",
-    "Grab the medium roller with narrower tips placed on the table.",
-    "Grasp the wooden rolling tool on the table with arms.",
-    "Lift the roller with polished surface off the table with both arms",
-    "Lift the light brown roller with your arms.",
-    "Pick up the wood roller from the table directly.",
-    "Grasp the wood roller firmly with arms.",
-    "Securely grab the medium roller with narrower tips using both arms.",
-    "Get hold of the wooden rolling tool using your arms",
-    "Bring both arms to grab the cylindrical roller with tapered ends.",
-    "Hold the light brown roller firmly from the table.",
-    "Take hold of the wooden rolling tool.",
-    "Use arms to firmly grab the light brown roller.",
-    "Firmly grip the medium roller with narrower tips on the table now.",
-    "Secure the light brown roller using your arms.",
-    "Firmly grab the light brown wooden roller using arms.",
-    "Grip the medium roller with narrower tips firmly with arms.",
-    "Secure the cylindrical roller with tapered ends with both arms.",
-    "Secure the cylindrical roller with tapered ends from the table using arms",
-    "Secure the medium-sized roller on the table using arms.",
-    "Lift the medium roller with narrower tips from the table.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Grasp the palm-length roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Pick up the light brown roller using both arms equally",
-    "Lift the light brown roller from the table carefully.",
-    "Reach out to grab the roller for smoothing materials from the table",
-    "Take hold of the medium roller with narrower tips using your arms.",
-    "Use both arms to grip the solid wood roller tightly.",
-    "Hold the roller with polished surface on the table with hands.",
-    "Hold the roller for smoothing materials with both arms to pick it up",
-    "Place hands on the light brown wooden roller and lift.",
-    "Take hold of the roller with polished surface with both arms.",
-    "Lift the palm-length roller from its place on the table",
-    "Pick up the roller with smooth and shiny texture from the table.",
-    "Reach for the light brown roller and hold it firmly",
-    "Pick up the cylindrical roller with tapered ends using both arms.",
-    "Lift the light brown wooden roller off the table with arms.",
-    "Reach for the solid wood roller and grab it firmly.",
-    "Both arms should grab the light brown wooden roller now.",
-    "Take the light brown wooden roller directly from the table.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Hold the light brown roller from the table.",
-    "Take both arms to grasp the roller with smooth and shiny texture.",
-    "Grab the palm-length roller directly from the table.",
-    "Use arms to hold the cylindrical roller with tapered ends tightly.",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Grasp the palm-length roller on the table with arms.",
-    "Lift the medium roller with narrower tips off the table with both arms",
-    "Lift the light brown wooden roller with your arms.",
-    "Pick up the medium roller with narrower tips from the table directly.",
-    "Grasp the wood roller firmly with arms.",
-    "Securely grab the palm-length roller using both arms.",
-    "Get hold of the light brown roller using your arms",
-    "Bring both arms to grab the medium-sized roller.",
-    "Hold the palm-length roller firmly from the table.",
-    "Take hold of the light brown roller.",
-    "Use arms to firmly grab the palm-length roller.",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Secure the cylindrical roller with tapered ends using your arms.",
-    "Firmly grab the roller with smooth and shiny texture using arms.",
-    "Grip the solid wood roller firmly with arms.",
-    "Secure the wooden rolling tool with both arms.",
-    "Secure the wooden rolling tool from the table using arms",
-    "Secure the roller for smoothing materials on the table using arms.",
-    "Lift the roller for smoothing materials from the table.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Grasp the medium-sized roller on the table.",
-    "Use both arms to grab the wood roller.",
-    "Pick up the light brown roller using both arms equally",
-    "Lift the palm-length roller from the table carefully.",
-    "Reach out to grab the cylindrical roller with tapered ends from the table",
-    "Take hold of the cylindrical roller with tapered ends using your arms.",
-    "Use both arms to grip the roller for smoothing materials tightly.",
-    "Hold the roller for smoothing materials on the table with hands."
-  ],
-  "unseen": [
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode46.json b/grab_roller/franka_clean/instructions/episode46.json
deleted file mode 100644
index ace0ed7648ae927a7d25a3ab7c2a773076670f2c..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode46.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Both arms should grab the solid wood roller now.",
-    "Pick up the medium roller with narrower tips from the table.",
-    "Reach out to grab the medium-sized roller from the table",
-    "Use both arms to grab the palm-length roller.",
-    "Take hold of the wood roller.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Pick up the palm-length roller using both arms.",
-    "Grasp the medium roller with narrower tips on the table.",
-    "Take both arms to grasp the wood roller.",
-    "Securely grab the light brown wooden roller using both arms.",
-    "Lift the medium-sized roller off the table with arms.",
-    "Use arms to firmly grab the medium roller with narrower tips.",
-    "Lift the palm-length roller from the table carefully.",
-    "Lift the wooden rolling tool with your arms.",
-    "Use both arms to grip the solid wood roller tightly.",
-    "Secure the wooden rolling tool using your arms.",
-    "Firmly grab the roller with smooth and shiny texture using arms.",
-    "Secure the roller with polished surface on the table using arms.",
-    "Secure the wooden rolling tool from the table using arms",
-    "Grasp the light brown roller on the table with arms.",
-    "Reach for the roller with polished surface and hold it firmly",
-    "Hold the cylindrical roller with tapered ends from the table.",
-    "Lift the solid wood roller from its place on the table",
-    "Lift the roller for smoothing materials off the table with both arms",
-    "Grip the light brown wooden roller firmly with arms.",
-    "Hold the solid wood roller on the table with hands.",
-    "Grab the wood roller directly from the table.",
-    "Reach for the solid wood roller and grab it firmly.",
-    "Bring both arms to grab the cylindrical roller with tapered ends.",
-    "Get hold of the cylindrical roller with tapered ends using your arms",
-    "Pick up the cylindrical roller with tapered ends using both arms equally",
-    "Grasp the medium roller with narrower tips firmly with arms.",
-    "Take hold of the light brown roller with both arms.",
-    "Hold the light brown roller with both arms to pick it up",
-    "Lift the wooden rolling tool from the table.",
-    "Secure the solid wood roller with both arms.",
-    "Use arms to hold the wood roller tightly.",
-    "Take hold of the palm-length roller using your arms.",
-    "Place hands on the roller with polished surface and lift.",
-    "Firmly grip the light brown roller on the table now.",
-    "Take the solid wood roller directly from the table.",
-    "Grasp the light brown wooden roller firmly from the table.",
-    "Hold the medium roller with narrower tips firmly from the table.",
-    "Pick up the solid wood roller from the table directly.",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Both arms should grab the medium roller with narrower tips now.",
-    "Pick up the wooden rolling tool from the table.",
-    "Reach out to grab the light brown wooden roller from the table",
-    "Use both arms to grab the light brown wooden roller.",
-    "Take hold of the roller with polished surface.",
-    "Take hold of the roller for smoothing materials with arms.",
-    "Pick up the wood roller using both arms.",
-    "Grasp the wooden rolling tool on the table.",
-    "Take both arms to grasp the medium-sized roller.",
-    "Securely grab the medium-sized roller using both arms.",
-    "Lift the light brown roller off the table with arms.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Lift the cylindrical roller with tapered ends from the table carefully.",
-    "Lift the palm-length roller with your arms.",
-    "Use both arms to grip the palm-length roller tightly.",
-    "Secure the light brown roller using your arms.",
-    "Firmly grab the light brown roller using arms.",
-    "Secure the light brown roller on the table using arms.",
-    "Secure the solid wood roller from the table using arms",
-    "Grasp the light brown roller on the table with arms.",
-    "Reach for the light brown wooden roller and hold it firmly",
-    "Hold the solid wood roller from the table.",
-    "Lift the medium roller with narrower tips from its place on the table",
-    "Lift the medium roller with narrower tips off the table with both arms",
-    "Grip the medium roller with narrower tips firmly with arms.",
-    "Hold the light brown wooden roller on the table with hands.",
-    "Grab the medium roller with narrower tips directly from the table.",
-    "Reach for the roller for smoothing materials and grab it firmly.",
-    "Bring both arms to grab the light brown wooden roller.",
-    "Get hold of the light brown wooden roller using your arms",
-    "Pick up the medium-sized roller using both arms equally",
-    "Grasp the medium-sized roller firmly with arms.",
-    "Take hold of the solid wood roller with both arms.",
-    "Hold the roller with smooth and shiny texture with both arms to pick it up",
-    "Lift the roller with smooth and shiny texture from the table.",
-    "Secure the medium-sized roller with both arms.",
-    "Use arms to hold the medium-sized roller tightly.",
-    "Take hold of the medium-sized roller using your arms.",
-    "Place hands on the wooden rolling tool and lift.",
-    "Firmly grip the roller with polished surface on the table now.",
-    "Take the wooden rolling tool directly from the table.",
-    "Grasp the light brown roller firmly from the table.",
-    "Hold the light brown roller firmly from the table.",
-    "Pick up the solid wood roller from the table directly.",
-    "Grab the palm-length roller placed on the table.",
-    "Both arms should grab the light brown wooden roller now.",
-    "Pick up the light brown wooden roller from the table.",
-    "Reach out to grab the solid wood roller from the table",
-    "Use both arms to grab the wooden rolling tool.",
-    "Take hold of the wooden rolling tool.",
-    "Take hold of the roller for smoothing materials with arms.",
-    "Pick up the roller with polished surface using both arms.",
-    "Grasp the palm-length roller on the table.",
-    "Take both arms to grasp the palm-length roller.",
-    "Securely grab the light brown roller using both arms."
-  ],
-  "unseen": [
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the roller with tapered tips with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode47.json b/grab_roller/franka_clean/instructions/episode47.json
deleted file mode 100644
index aff2c8d59c6a5b8400239918dd0474600bf42604..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode47.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Grasp the smooth cylindrical roller firmly with arms.",
-    "Grab the brown roller placed on the table.",
-    "Take hold of the roller with smooth texture using your arms.",
-    "Hold the palm-sized roller on the table with hands.",
-    "Hold the roller with smooth texture from the table.",
-    "Lift the roller with smooth texture off the table with both arms",
-    "Reach for the light wood roller and hold it firmly",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Secure the smooth light brown roller using your arms.",
-    "Use both arms to grip the roller for rolling tightly.",
-    "Hold the light wood roller firmly from the table.",
-    "Get hold of the roller for rolling using your arms",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Reach for the brown roller and grab it firmly.",
-    "Lift the roller shaped like cylinder with your arms.",
-    "Grip the light wood roller firmly with arms.",
-    "Firmly grip the cylindrical roller on the table now.",
-    "Pick up the narrow tapered roller from the table.",
-    "Secure the smooth cylindrical roller from the table using arms",
-    "Grasp the cylindrical roller firmly from the table.",
-    "Grab the light wood roller directly from the table.",
-    "Pick up the long slim roller using both arms.",
-    "Grasp the long slim roller on the table.",
-    "Take the roller for rolling directly from the table.",
-    "Pick up the smooth cylindrical roller from the table directly.",
-    "Lift the palm-sized roller from the table carefully.",
-    "Reach out to grab the roller for rolling from the table",
-    "Place hands on the roller shaped like cylinder and lift.",
-    "Lift the smooth cylindrical roller off the table with arms.",
-    "Use arms to firmly grab the smooth light brown roller.",
-    "Pick up the roller shaped like cylinder using both arms equally",
-    "Lift the narrow tapered roller from its place on the table",
-    "Firmly grab the palm-sized roller using arms.",
-    "Use both arms to grab the brown roller.",
-    "Both arms should grab the roller for rolling now.",
-    "Grasp the slim wooden roller on the table with arms.",
-    "Securely grab the roller with smooth texture using both arms.",
-    "Secure the light wood roller with both arms.",
-    "Take hold of the roller shaped like cylinder with arms.",
-    "Hold the roller shaped like cylinder with both arms to pick it up",
-    "Use arms to hold the slim wooden roller tightly.",
-    "Lift the light wood roller from the table.",
-    "Take hold of the palm-sized roller with both arms.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Take hold of the cylindrical roller.",
-    "Grasp the roller with smooth texture firmly with arms.",
-    "Grab the palm-sized roller placed on the table.",
-    "Take hold of the brown roller using your arms.",
-    "Hold the light wood roller on the table with hands.",
-    "Hold the smooth cylindrical roller from the table.",
-    "Lift the roller for rolling off the table with both arms",
-    "Reach for the slim wooden roller and hold it firmly",
-    "Bring both arms to grab the light wood roller.",
-    "Secure the slim wooden roller using your arms.",
-    "Use both arms to grip the smooth light brown roller tightly.",
-    "Hold the brown roller firmly from the table.",
-    "Get hold of the slim wooden roller using your arms",
-    "Take both arms to grasp the palm-sized roller.",
-    "Reach for the cylindrical roller and grab it firmly.",
-    "Lift the palm-sized roller with your arms.",
-    "Grip the roller shaped like cylinder firmly with arms.",
-    "Firmly grip the slim wooden roller on the table now.",
-    "Pick up the slim wooden roller from the table.",
-    "Secure the smooth light brown roller from the table using arms",
-    "Grasp the roller with smooth texture firmly from the table.",
-    "Grab the roller for rolling directly from the table.",
-    "Pick up the slim wooden roller using both arms.",
-    "Grasp the roller with smooth texture on the table.",
-    "Take the slim wooden roller directly from the table.",
-    "Pick up the light wood roller from the table directly.",
-    "Lift the light wood roller from the table carefully.",
-    "Reach out to grab the long slim roller from the table",
-    "Place hands on the narrow tapered roller and lift.",
-    "Lift the slim wooden roller off the table with arms.",
-    "Use arms to firmly grab the smooth cylindrical roller.",
-    "Pick up the narrow tapered roller using both arms equally",
-    "Lift the palm-sized roller from its place on the table",
-    "Firmly grab the palm-sized roller using arms.",
-    "Use both arms to grab the cylindrical roller.",
-    "Both arms should grab the smooth light brown roller now.",
-    "Grasp the smooth cylindrical roller on the table with arms.",
-    "Securely grab the smooth light brown roller using both arms.",
-    "Secure the smooth cylindrical roller with both arms.",
-    "Take hold of the roller shaped like cylinder with arms.",
-    "Hold the smooth light brown roller with both arms to pick it up",
-    "Use arms to hold the slim wooden roller tightly.",
-    "Lift the roller shaped like cylinder from the table.",
-    "Take hold of the smooth cylindrical roller with both arms.",
-    "Secure the roller shaped like cylinder on the table using arms.",
-    "Take hold of the narrow tapered roller.",
-    "Grasp the light wood roller firmly with arms.",
-    "Grab the smooth cylindrical roller placed on the table.",
-    "Take hold of the roller for rolling using your arms.",
-    "Hold the cylindrical roller on the table with hands.",
-    "Hold the slim wooden roller from the table.",
-    "Lift the roller with smooth texture off the table with both arms",
-    "Reach for the roller for rolling and hold it firmly",
-    "Bring both arms to grab the smooth cylindrical roller.",
-    "Secure the palm-sized roller using your arms.",
-    "Use both arms to grip the narrow tapered roller tightly."
-  ],
-  "unseen": [
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the wooden roller.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode48.json b/grab_roller/franka_clean/instructions/episode48.json
deleted file mode 100644
index 09c5c46327e2ca75bb4425328729f8d7cbe7eebd..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode48.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Use arms to firmly grab the smooth light brown roller.",
-    "Grab the light wood roller placed on the table.",
-    "Pick up the long slim roller from the table.",
-    "Take both arms to grasp the roller shaped like cylinder.",
-    "Hold the smooth cylindrical roller from the table.",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Reach for the palm-sized roller and hold it firmly",
-    "Lift the brown roller with your arms.",
-    "Hold the narrow tapered roller firmly from the table.",
-    "Pick up the smooth light brown roller from the table directly.",
-    "Reach out to grab the light wood roller from the table",
-    "Firmly grab the roller shaped like cylinder using arms.",
-    "Hold the narrow tapered roller on the table with hands.",
-    "Use arms to hold the smooth cylindrical roller tightly.",
-    "Lift the narrow tapered roller off the table with arms.",
-    "Place hands on the palm-sized roller and lift.",
-    "Grip the roller with smooth texture firmly with arms.",
-    "Reach for the long slim roller and grab it firmly.",
-    "Get hold of the smooth light brown roller using your arms",
-    "Lift the brown roller from its place on the table",
-    "Secure the light wood roller with both arms.",
-    "Bring both arms to grab the roller for rolling.",
-    "Take hold of the long slim roller using your arms.",
-    "Pick up the roller shaped like cylinder using both arms.",
-    "Secure the narrow tapered roller using your arms.",
-    "Take hold of the slim wooden roller.",
-    "Both arms should grab the smooth cylindrical roller now.",
-    "Hold the narrow tapered roller with both arms to pick it up",
-    "Secure the smooth light brown roller from the table using arms",
-    "Take the roller shaped like cylinder directly from the table.",
-    "Lift the cylindrical roller off the table with both arms",
-    "Take hold of the smooth light brown roller with arms.",
-    "Use both arms to grip the brown roller tightly.",
-    "Firmly grip the narrow tapered roller on the table now.",
-    "Grasp the slim wooden roller firmly with arms.",
-    "Pick up the narrow tapered roller using both arms equally",
-    "Lift the cylindrical roller from the table.",
-    "Grab the slim wooden roller directly from the table.",
-    "Lift the roller with smooth texture from the table carefully.",
-    "Secure the narrow tapered roller on the table using arms.",
-    "Grasp the cylindrical roller on the table.",
-    "Securely grab the palm-sized roller using both arms.",
-    "Use both arms to grab the cylindrical roller.",
-    "Grasp the long slim roller on the table with arms.",
-    "Take hold of the narrow tapered roller with both arms.",
-    "Use arms to firmly grab the light wood roller.",
-    "Grab the narrow tapered roller placed on the table.",
-    "Pick up the cylindrical roller from the table.",
-    "Take both arms to grasp the cylindrical roller.",
-    "Hold the cylindrical roller from the table.",
-    "Grasp the brown roller firmly from the table.",
-    "Reach for the palm-sized roller and hold it firmly",
-    "Lift the slim wooden roller with your arms.",
-    "Hold the palm-sized roller firmly from the table.",
-    "Pick up the smooth light brown roller from the table directly.",
-    "Reach out to grab the roller shaped like cylinder from the table",
-    "Firmly grab the smooth cylindrical roller using arms.",
-    "Hold the roller for rolling on the table with hands.",
-    "Use arms to hold the smooth cylindrical roller tightly.",
-    "Lift the smooth light brown roller off the table with arms.",
-    "Place hands on the brown roller and lift.",
-    "Grip the cylindrical roller firmly with arms.",
-    "Reach for the roller with smooth texture and grab it firmly.",
-    "Get hold of the roller with smooth texture using your arms",
-    "Lift the long slim roller from its place on the table",
-    "Secure the narrow tapered roller with both arms.",
-    "Bring both arms to grab the roller shaped like cylinder.",
-    "Take hold of the smooth cylindrical roller using your arms.",
-    "Pick up the long slim roller using both arms.",
-    "Secure the brown roller using your arms.",
-    "Take hold of the smooth light brown roller.",
-    "Both arms should grab the long slim roller now.",
-    "Hold the smooth cylindrical roller with both arms to pick it up",
-    "Secure the cylindrical roller from the table using arms",
-    "Take the palm-sized roller directly from the table.",
-    "Lift the narrow tapered roller off the table with both arms",
-    "Take hold of the smooth cylindrical roller with arms.",
-    "Use both arms to grip the slim wooden roller tightly.",
-    "Firmly grip the cylindrical roller on the table now.",
-    "Grasp the light wood roller firmly with arms.",
-    "Pick up the cylindrical roller using both arms equally",
-    "Lift the palm-sized roller from the table.",
-    "Grab the roller with smooth texture directly from the table.",
-    "Lift the cylindrical roller from the table carefully.",
-    "Secure the palm-sized roller on the table using arms.",
-    "Grasp the smooth light brown roller on the table.",
-    "Securely grab the roller shaped like cylinder using both arms.",
-    "Use both arms to grab the roller with smooth texture.",
-    "Grasp the narrow tapered roller on the table with arms.",
-    "Take hold of the light wood roller with both arms.",
-    "Use arms to firmly grab the light wood roller.",
-    "Grab the slim wooden roller placed on the table.",
-    "Pick up the slim wooden roller from the table.",
-    "Take both arms to grasp the light wood roller.",
-    "Hold the smooth cylindrical roller from the table.",
-    "Grasp the slim wooden roller firmly from the table.",
-    "Reach for the long slim roller and hold it firmly",
-    "Lift the roller shaped like cylinder with your arms.",
-    "Hold the smooth light brown roller firmly from the table.",
-    "Pick up the brown roller from the table directly."
-  ],
-  "unseen": [
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the roller with tapered ends on the table.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the roller with tapered ends on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode49.json b/grab_roller/franka_clean/instructions/episode49.json
deleted file mode 100644
index aa17777586bb8660a9ddd525748e8d70cd658078..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode49.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Take both arms to grasp the medium roller with narrower tips.",
-    "Grasp the wooden rolling tool on the table.",
-    "Take hold of the wood roller with arms.",
-    "Grab the roller with smooth and shiny texture directly from the table.",
-    "Lift the palm-length roller off the table with both arms",
-    "Pick up the wood roller using both arms equally",
-    "Hold the roller with polished surface on the table with hands.",
-    "Lift the roller for smoothing materials from the table carefully.",
-    "Hold the cylindrical roller with tapered ends from the table.",
-    "Securely grab the roller for smoothing materials using both arms.",
-    "Take hold of the cylindrical roller with tapered ends.",
-    "Secure the light brown wooden roller using your arms.",
-    "Lift the light brown roller from its place on the table",
-    "Grasp the wood roller firmly with arms.",
-    "Use arms to hold the wood roller tightly.",
-    "Use arms to firmly grab the solid wood roller.",
-    "Grasp the palm-length roller firmly from the table.",
-    "Use both arms to grip the roller for smoothing materials tightly.",
-    "Lift the light brown roller off the table with arms.",
-    "Pick up the wood roller from the table.",
-    "Reach out to grab the medium-sized roller from the table",
-    "Grab the roller with polished surface placed on the table.",
-    "Firmly grab the medium-sized roller using arms.",
-    "Get hold of the medium roller with narrower tips using your arms",
-    "Both arms should grab the light brown roller now.",
-    "Take hold of the wood roller with both arms.",
-    "Secure the roller with smooth and shiny texture from the table using arms",
-    "Lift the solid wood roller from the table.",
-    "Reach for the light brown roller and hold it firmly",
-    "Hold the solid wood roller with both arms to pick it up",
-    "Bring both arms to grab the light brown wooden roller.",
-    "Take the medium roller with narrower tips directly from the table.",
-    "Grasp the light brown wooden roller on the table with arms.",
-    "Secure the medium-sized roller with both arms.",
-    "Grip the roller for smoothing materials firmly with arms.",
-    "Hold the light brown roller firmly from the table.",
-    "Secure the medium-sized roller on the table using arms.",
-    "Pick up the light brown wooden roller from the table directly.",
-    "Pick up the light brown wooden roller using both arms.",
-    "Lift the palm-length roller with your arms.",
-    "Take hold of the cylindrical roller with tapered ends using your arms.",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Reach for the light brown roller and grab it firmly.",
-    "Use both arms to grab the medium roller with narrower tips.",
-    "Place hands on the medium-sized roller and lift.",
-    "Take both arms to grasp the light brown roller.",
-    "Grasp the medium roller with narrower tips on the table.",
-    "Take hold of the light brown wooden roller with arms.",
-    "Grab the light brown roller directly from the table.",
-    "Lift the cylindrical roller with tapered ends off the table with both arms",
-    "Pick up the medium-sized roller using both arms equally",
-    "Hold the roller with polished surface on the table with hands.",
-    "Lift the roller for smoothing materials from the table carefully.",
-    "Hold the medium-sized roller from the table.",
-    "Securely grab the wooden rolling tool using both arms.",
-    "Take hold of the roller with smooth and shiny texture.",
-    "Secure the light brown wooden roller using your arms.",
-    "Lift the cylindrical roller with tapered ends from its place on the table",
-    "Grasp the palm-length roller firmly with arms.",
-    "Use arms to hold the cylindrical roller with tapered ends tightly.",
-    "Use arms to firmly grab the light brown roller.",
-    "Grasp the wood roller firmly from the table.",
-    "Use both arms to grip the roller for smoothing materials tightly.",
-    "Lift the light brown roller off the table with arms.",
-    "Pick up the roller with smooth and shiny texture from the table.",
-    "Reach out to grab the light brown roller from the table",
-    "Grab the light brown wooden roller placed on the table.",
-    "Firmly grab the roller with polished surface using arms.",
-    "Get hold of the light brown roller using your arms",
-    "Both arms should grab the roller for smoothing materials now.",
-    "Take hold of the roller with polished surface with both arms.",
-    "Secure the wooden rolling tool from the table using arms",
-    "Lift the roller for smoothing materials from the table.",
-    "Reach for the light brown roller and hold it firmly",
-    "Hold the roller for smoothing materials with both arms to pick it up",
-    "Bring both arms to grab the roller for smoothing materials.",
-    "Take the medium roller with narrower tips directly from the table.",
-    "Grasp the solid wood roller on the table with arms.",
-    "Secure the medium-sized roller with both arms.",
-    "Grip the solid wood roller firmly with arms.",
-    "Hold the solid wood roller firmly from the table.",
-    "Secure the light brown wooden roller on the table using arms.",
-    "Pick up the wooden rolling tool from the table directly.",
-    "Pick up the light brown wooden roller using both arms.",
-    "Lift the medium-sized roller with your arms.",
-    "Take hold of the medium-sized roller using your arms.",
-    "Firmly grip the roller for smoothing materials on the table now.",
-    "Reach for the wood roller and grab it firmly.",
-    "Use both arms to grab the roller with smooth and shiny texture.",
-    "Place hands on the roller with smooth and shiny texture and lift.",
-    "Take both arms to grasp the light brown roller.",
-    "Grasp the light brown wooden roller on the table.",
-    "Take hold of the light brown roller with arms.",
-    "Grab the roller with smooth and shiny texture directly from the table.",
-    "Lift the light brown roller off the table with both arms",
-    "Pick up the light brown roller using both arms equally",
-    "Hold the cylindrical roller with tapered ends on the table with hands.",
-    "Lift the light brown roller from the table carefully.",
-    "Hold the solid wood roller from the table.",
-    "Securely grab the light brown wooden roller using both arms."
-  ],
-  "unseen": [
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode5.json b/grab_roller/franka_clean/instructions/episode5.json
deleted file mode 100644
index bb0ca6d3bb3c394dd4c1793a8a7940338abed9f1..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode5.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Lift the brown roller with your arms.",
-    "Reach out to grab the roller with smooth texture from the table",
-    "Securely grab the cylindrical roller using both arms.",
-    "Lift the narrow tapered roller from the table carefully.",
-    "Get hold of the smooth cylindrical roller using your arms",
-    "Hold the roller for rolling on the table with hands.",
-    "Grasp the smooth light brown roller firmly with arms.",
-    "Take hold of the light wood roller using your arms.",
-    "Pick up the roller shaped like cylinder using both arms.",
-    "Firmly grip the slim wooden roller on the table now.",
-    "Pick up the light wood roller from the table.",
-    "Reach for the long slim roller and grab it firmly.",
-    "Secure the palm-sized roller using your arms.",
-    "Grasp the narrow tapered roller on the table with arms.",
-    "Pick up the palm-sized roller using both arms equally",
-    "Hold the narrow tapered roller with both arms to pick it up",
-    "Grasp the smooth light brown roller firmly from the table.",
-    "Lift the smooth light brown roller from the table.",
-    "Firmly grab the brown roller using arms.",
-    "Use both arms to grip the slim wooden roller tightly.",
-    "Use both arms to grab the brown roller.",
-    "Hold the narrow tapered roller firmly from the table.",
-    "Take hold of the smooth cylindrical roller with both arms.",
-    "Use arms to firmly grab the smooth cylindrical roller.",
-    "Grab the palm-sized roller directly from the table.",
-    "Grip the palm-sized roller firmly with arms.",
-    "Take hold of the smooth light brown roller with arms.",
-    "Use arms to hold the long slim roller tightly.",
-    "Take the narrow tapered roller directly from the table.",
-    "Reach for the smooth light brown roller and hold it firmly",
-    "Secure the slim wooden roller with both arms.",
-    "Lift the light wood roller off the table with both arms",
-    "Grasp the slim wooden roller on the table.",
-    "Lift the slim wooden roller from its place on the table",
-    "Hold the narrow tapered roller from the table.",
-    "Pick up the slim wooden roller from the table directly.",
-    "Place hands on the cylindrical roller and lift.",
-    "Take both arms to grasp the roller for rolling.",
-    "Take hold of the long slim roller.",
-    "Both arms should grab the cylindrical roller now.",
-    "Lift the roller for rolling off the table with arms.",
-    "Secure the roller for rolling from the table using arms",
-    "Grab the roller with smooth texture placed on the table.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Bring both arms to grab the roller with smooth texture.",
-    "Lift the light wood roller with your arms.",
-    "Reach out to grab the smooth light brown roller from the table",
-    "Securely grab the light wood roller using both arms.",
-    "Lift the palm-sized roller from the table carefully.",
-    "Get hold of the roller shaped like cylinder using your arms",
-    "Hold the brown roller on the table with hands.",
-    "Grasp the brown roller firmly with arms.",
-    "Take hold of the brown roller using your arms.",
-    "Pick up the brown roller using both arms.",
-    "Firmly grip the palm-sized roller on the table now.",
-    "Pick up the smooth light brown roller from the table.",
-    "Reach for the slim wooden roller and grab it firmly.",
-    "Secure the slim wooden roller using your arms.",
-    "Grasp the palm-sized roller on the table with arms.",
-    "Pick up the brown roller using both arms equally",
-    "Hold the brown roller with both arms to pick it up",
-    "Grasp the narrow tapered roller firmly from the table.",
-    "Lift the long slim roller from the table.",
-    "Firmly grab the smooth cylindrical roller using arms.",
-    "Use both arms to grip the cylindrical roller tightly.",
-    "Use both arms to grab the roller for rolling.",
-    "Hold the roller with smooth texture firmly from the table.",
-    "Take hold of the brown roller with both arms.",
-    "Use arms to firmly grab the smooth light brown roller.",
-    "Grab the brown roller directly from the table.",
-    "Grip the long slim roller firmly with arms.",
-    "Take hold of the brown roller with arms.",
-    "Use arms to hold the cylindrical roller tightly.",
-    "Take the roller shaped like cylinder directly from the table.",
-    "Reach for the narrow tapered roller and hold it firmly",
-    "Secure the light wood roller with both arms.",
-    "Lift the roller with smooth texture off the table with both arms",
-    "Grasp the narrow tapered roller on the table.",
-    "Lift the slim wooden roller from its place on the table",
-    "Hold the smooth cylindrical roller from the table.",
-    "Pick up the light wood roller from the table directly.",
-    "Place hands on the slim wooden roller and lift.",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Take hold of the smooth light brown roller.",
-    "Both arms should grab the brown roller now.",
-    "Lift the palm-sized roller off the table with arms.",
-    "Secure the smooth cylindrical roller from the table using arms",
-    "Grab the roller for rolling placed on the table.",
-    "Secure the slim wooden roller on the table using arms.",
-    "Bring both arms to grab the roller with smooth texture.",
-    "Lift the cylindrical roller with your arms.",
-    "Reach out to grab the palm-sized roller from the table",
-    "Securely grab the roller for rolling using both arms.",
-    "Lift the roller with smooth texture from the table carefully.",
-    "Get hold of the palm-sized roller using your arms",
-    "Hold the palm-sized roller on the table with hands.",
-    "Grasp the light wood roller firmly with arms.",
-    "Take hold of the cylindrical roller using your arms.",
-    "Pick up the roller shaped like cylinder using both arms.",
-    "Firmly grip the smooth light brown roller on the table now."
-  ],
-  "unseen": [
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the wooden roller on the table.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the wooden roller with both arms.",
-    "Use both arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Reach and grab the wooden roller with both arms",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends with both arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Use both arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode6.json b/grab_roller/franka_clean/instructions/episode6.json
deleted file mode 100644
index 6feed88ebe8005481ff95a5636669a930ed7c5b3..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode6.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Grab the long slim roller directly from the table.",
-    "Grasp the palm-sized roller on the table.",
-    "Lift the roller with smooth texture from the table.",
-    "Hold the light wood roller from the table.",
-    "Grasp the roller shaped like cylinder firmly from the table.",
-    "Grab the roller shaped like cylinder placed on the table.",
-    "Firmly grab the smooth light brown roller using arms.",
-    "Reach for the long slim roller and grab it firmly.",
-    "Grasp the roller with smooth texture firmly with arms.",
-    "Use both arms to grab the roller shaped like cylinder.",
-    "Hold the roller for rolling with both arms to pick it up",
-    "Pick up the long slim roller using both arms equally",
-    "Lift the roller with smooth texture from its place on the table",
-    "Lift the smooth cylindrical roller off the table with both arms",
-    "Grip the light wood roller firmly with arms.",
-    "Hold the smooth light brown roller on the table with hands.",
-    "Pick up the roller shaped like cylinder using both arms.",
-    "Grasp the brown roller on the table with arms.",
-    "Use arms to hold the roller with smooth texture tightly.",
-    "Pick up the smooth cylindrical roller from the table.",
-    "Use both arms to grip the brown roller tightly.",
-    "Reach for the slim wooden roller and hold it firmly",
-    "Securely grab the brown roller using both arms.",
-    "Lift the smooth light brown roller with your arms.",
-    "Hold the brown roller firmly from the table.",
-    "Firmly grip the smooth cylindrical roller on the table now.",
-    "Take hold of the narrow tapered roller.",
-    "Place hands on the palm-sized roller and lift.",
-    "Take hold of the smooth light brown roller using your arms.",
-    "Take hold of the light wood roller with arms.",
-    "Both arms should grab the long slim roller now.",
-    "Get hold of the roller for rolling using your arms",
-    "Secure the smooth light brown roller with both arms.",
-    "Secure the smooth cylindrical roller using your arms.",
-    "Secure the light wood roller from the table using arms",
-    "Lift the light wood roller from the table carefully.",
-    "Use arms to firmly grab the brown roller.",
-    "Bring both arms to grab the narrow tapered roller.",
-    "Take the palm-sized roller directly from the table.",
-    "Secure the long slim roller on the table using arms.",
-    "Take hold of the long slim roller with both arms.",
-    "Lift the smooth cylindrical roller off the table with arms.",
-    "Reach out to grab the roller with smooth texture from the table",
-    "Take both arms to grasp the narrow tapered roller.",
-    "Pick up the light wood roller from the table directly.",
-    "Grab the light wood roller directly from the table.",
-    "Grasp the slim wooden roller on the table.",
-    "Lift the palm-sized roller from the table.",
-    "Hold the roller shaped like cylinder from the table.",
-    "Grasp the palm-sized roller firmly from the table.",
-    "Grab the roller shaped like cylinder placed on the table.",
-    "Firmly grab the narrow tapered roller using arms.",
-    "Reach for the slim wooden roller and grab it firmly.",
-    "Grasp the smooth light brown roller firmly with arms.",
-    "Use both arms to grab the long slim roller.",
-    "Hold the cylindrical roller with both arms to pick it up",
-    "Pick up the narrow tapered roller using both arms equally",
-    "Lift the cylindrical roller from its place on the table",
-    "Lift the smooth cylindrical roller off the table with both arms",
-    "Grip the roller with smooth texture firmly with arms.",
-    "Hold the long slim roller on the table with hands.",
-    "Pick up the cylindrical roller using both arms.",
-    "Grasp the palm-sized roller on the table with arms.",
-    "Use arms to hold the roller for rolling tightly.",
-    "Pick up the smooth cylindrical roller from the table.",
-    "Use both arms to grip the slim wooden roller tightly.",
-    "Reach for the smooth light brown roller and hold it firmly",
-    "Securely grab the roller for rolling using both arms.",
-    "Lift the long slim roller with your arms.",
-    "Hold the long slim roller firmly from the table.",
-    "Firmly grip the roller shaped like cylinder on the table now.",
-    "Take hold of the roller for rolling.",
-    "Place hands on the palm-sized roller and lift.",
-    "Take hold of the roller shaped like cylinder using your arms.",
-    "Take hold of the smooth light brown roller with arms.",
-    "Both arms should grab the smooth cylindrical roller now.",
-    "Get hold of the roller for rolling using your arms",
-    "Secure the roller for rolling with both arms.",
-    "Secure the narrow tapered roller using your arms.",
-    "Secure the smooth light brown roller from the table using arms",
-    "Lift the roller shaped like cylinder from the table carefully.",
-    "Use arms to firmly grab the palm-sized roller.",
-    "Bring both arms to grab the smooth light brown roller.",
-    "Take the smooth cylindrical roller directly from the table.",
-    "Secure the cylindrical roller on the table using arms.",
-    "Take hold of the smooth cylindrical roller with both arms.",
-    "Lift the narrow tapered roller off the table with arms.",
-    "Reach out to grab the narrow tapered roller from the table",
-    "Take both arms to grasp the long slim roller.",
-    "Pick up the cylindrical roller from the table directly.",
-    "Grab the long slim roller directly from the table.",
-    "Grasp the narrow tapered roller on the table.",
-    "Lift the palm-sized roller from the table.",
-    "Hold the smooth light brown roller from the table.",
-    "Grasp the roller with smooth texture firmly from the table.",
-    "Grab the palm-sized roller placed on the table.",
-    "Firmly grab the cylindrical roller using arms.",
-    "Reach for the long slim roller and grab it firmly.",
-    "Grasp the slim wooden roller firmly with arms.",
-    "Use both arms to grab the light wood roller."
-  ],
-  "unseen": [
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the wooden roller on the table.",
-    "Reach and grab the wooden roller with both arms",
-    "Grab the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the wooden roller with both arms.",
-    "Grab the wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the roller with tapered ends.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the wooden roller.",
-    "Hold the wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the roller with tapered ends with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the light brown wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use both arms to grab the wooden roller.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Hold the roller with tapered ends with both arms.",
-    "Grab the wooden roller on the table.",
-    "Reach and grab the roller with tapered ends with both arms",
-    "Grab the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table with arms.",
-    "Use arms to grab the wooden roller.",
-    "Grab the roller with tapered ends on the table using arms",
-    "Grab the wooden roller on the table with arms.",
-    "Use both arms to grab the light brown wooden roller.",
-    "Use both arms to grab the roller with tapered ends.",
-    "Hold the wooden roller with both arms.",
-    "Grab the roller with tapered ends on the table.",
-    "Reach and grab the light brown wooden roller with both arms",
-    "Grab the light brown wooden roller with both arms.",
-    "Grab the light brown wooden roller on the table with arms.",
-    "Use arms to grab the light brown wooden roller.",
-    "Grab the wooden roller on the table using arms",
-    "Grab the light brown wooden roller on the table with arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode7.json b/grab_roller/franka_clean/instructions/episode7.json
deleted file mode 100644
index 012bd9b49a307f98f85b6379c8a2bdd45e509b86..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode7.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Grasp the roller with smooth and shiny texture firmly from the table.",
-    "Pick up the solid wood roller using both arms equally",
-    "Place hands on the medium-sized roller and lift.",
-    "Bring both arms to grab the wood roller.",
-    "Secure the roller with polished surface with both arms.",
-    "Pick up the medium-sized roller using both arms.",
-    "Use arms to firmly grab the medium roller with narrower tips.",
-    "Lift the light brown wooden roller off the table with both arms",
-    "Use both arms to grab the medium roller with narrower tips.",
-    "Reach out to grab the cylindrical roller with tapered ends from the table",
-    "Lift the medium roller with narrower tips with your arms.",
-    "Securely grab the roller with polished surface using both arms.",
-    "Take the light brown roller directly from the table.",
-    "Grip the wooden rolling tool firmly with arms.",
-    "Grasp the wood roller firmly with arms.",
-    "Hold the roller with polished surface firmly from the table.",
-    "Pick up the light brown wooden roller from the table.",
-    "Hold the wooden rolling tool with both arms to pick it up",
-    "Grab the roller for smoothing materials placed on the table.",
-    "Pick up the roller for smoothing materials from the table directly.",
-    "Grasp the cylindrical roller with tapered ends on the table.",
-    "Secure the cylindrical roller with tapered ends on the table using arms.",
-    "Take hold of the solid wood roller using your arms.",
-    "Grab the wood roller directly from the table.",
-    "Use both arms to grip the wooden rolling tool tightly.",
-    "Take hold of the roller with smooth and shiny texture.",
-    "Lift the palm-length roller from the table carefully.",
-    "Secure the palm-length roller from the table using arms",
-    "Lift the roller with polished surface off the table with arms.",
-    "Reach for the solid wood roller and hold it firmly",
-    "Grasp the solid wood roller on the table with arms.",
-    "Lift the medium roller with narrower tips from its place on the table",
-    "Both arms should grab the cylindrical roller with tapered ends now.",
-    "Reach for the roller for smoothing materials and grab it firmly.",
-    "Hold the light brown wooden roller on the table with hands.",
-    "Hold the wood roller from the table.",
-    "Firmly grip the roller with smooth and shiny texture on the table now.",
-    "Take hold of the roller for smoothing materials with both arms.",
-    "Get hold of the roller for smoothing materials using your arms",
-    "Take hold of the palm-length roller with arms.",
-    "Use arms to hold the light brown roller tightly.",
-    "Take both arms to grasp the cylindrical roller with tapered ends.",
-    "Lift the medium roller with narrower tips from the table.",
-    "Secure the cylindrical roller with tapered ends using your arms.",
-    "Firmly grab the cylindrical roller with tapered ends using arms.",
-    "Grasp the solid wood roller firmly from the table.",
-    "Pick up the cylindrical roller with tapered ends using both arms equally",
-    "Place hands on the solid wood roller and lift.",
-    "Bring both arms to grab the palm-length roller.",
-    "Secure the palm-length roller with both arms.",
-    "Pick up the solid wood roller using both arms.",
-    "Use arms to firmly grab the medium-sized roller.",
-    "Lift the light brown roller off the table with both arms",
-    "Use both arms to grab the medium roller with narrower tips.",
-    "Reach out to grab the solid wood roller from the table",
-    "Lift the roller with smooth and shiny texture with your arms.",
-    "Securely grab the light brown roller using both arms.",
-    "Take the wood roller directly from the table.",
-    "Grip the roller with smooth and shiny texture firmly with arms.",
-    "Grasp the wood roller firmly with arms.",
-    "Hold the roller for smoothing materials firmly from the table.",
-    "Pick up the roller with polished surface from the table.",
-    "Hold the wood roller with both arms to pick it up",
-    "Grab the cylindrical roller with tapered ends placed on the table.",
-    "Pick up the light brown roller from the table directly.",
-    "Grasp the medium roller with narrower tips on the table.",
-    "Secure the roller with polished surface on the table using arms.",
-    "Take hold of the roller with polished surface using your arms.",
-    "Grab the roller with polished surface directly from the table.",
-    "Use both arms to grip the medium roller with narrower tips tightly.",
-    "Take hold of the light brown wooden roller.",
-    "Lift the palm-length roller from the table carefully.",
-    "Secure the palm-length roller from the table using arms",
-    "Lift the medium-sized roller off the table with arms.",
-    "Reach for the medium roller with narrower tips and hold it firmly",
-    "Grasp the wood roller on the table with arms.",
-    "Lift the solid wood roller from its place on the table",
-    "Both arms should grab the roller for smoothing materials now.",
-    "Reach for the wooden rolling tool and grab it firmly.",
-    "Hold the wooden rolling tool on the table with hands.",
-    "Hold the roller for smoothing materials from the table.",
-    "Firmly grip the cylindrical roller with tapered ends on the table now.",
-    "Take hold of the palm-length roller with both arms.",
-    "Get hold of the wooden rolling tool using your arms",
-    "Take hold of the wooden rolling tool with arms.",
-    "Use arms to hold the roller with polished surface tightly.",
-    "Take both arms to grasp the cylindrical roller with tapered ends.",
-    "Lift the roller with smooth and shiny texture from the table.",
-    "Secure the medium-sized roller using your arms.",
-    "Firmly grab the cylindrical roller with tapered ends using arms.",
-    "Grasp the light brown wooden roller firmly from the table.",
-    "Pick up the medium-sized roller using both arms equally",
-    "Place hands on the light brown roller and lift.",
-    "Bring both arms to grab the wood roller.",
-    "Secure the palm-length roller with both arms.",
-    "Pick up the roller for smoothing materials using both arms.",
-    "Use arms to firmly grab the palm-length roller.",
-    "Lift the cylindrical roller with tapered ends off the table with both arms",
-    "Use both arms to grab the solid wood roller.",
-    "Reach out to grab the roller with smooth and shiny texture from the table"
-  ],
-  "unseen": [
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the roller with tapered tips with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode8.json b/grab_roller/franka_clean/instructions/episode8.json
deleted file mode 100644
index c552fc7e1fd6a78ccfadb9d6f8fd298ea6790932..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode8.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Lift the wooden rolling tool off the table with both arms",
-    "Use both arms to grip the solid wood roller tightly.",
-    "Grasp the wooden rolling tool on the table with arms.",
-    "Take hold of the cylindrical roller with tapered ends with both arms.",
-    "Use arms to hold the palm-length roller tightly.",
-    "Grasp the roller with smooth and shiny texture on the table.",
-    "Reach for the wood roller and grab it firmly.",
-    "Take hold of the wood roller using your arms.",
-    "Grip the roller with smooth and shiny texture firmly with arms.",
-    "Get hold of the light brown roller using your arms",
-    "Secure the solid wood roller with both arms.",
-    "Secure the wooden rolling tool using your arms.",
-    "Place hands on the roller with polished surface and lift.",
-    "Lift the roller with smooth and shiny texture from the table carefully.",
-    "Grasp the roller for smoothing materials firmly from the table.",
-    "Hold the medium-sized roller from the table.",
-    "Take both arms to grasp the roller with polished surface.",
-    "Lift the light brown wooden roller from the table.",
-    "Secure the roller with polished surface from the table using arms",
-    "Hold the solid wood roller with both arms to pick it up",
-    "Pick up the solid wood roller using both arms.",
-    "Grab the solid wood roller placed on the table.",
-    "Pick up the medium roller with narrower tips from the table.",
-    "Hold the medium roller with narrower tips firmly from the table.",
-    "Grab the light brown wooden roller directly from the table.",
-    "Grasp the wood roller firmly with arms.",
-    "Take hold of the wooden rolling tool with arms.",
-    "Lift the wooden rolling tool from its place on the table",
-    "Use arms to firmly grab the roller with polished surface.",
-    "Bring both arms to grab the medium roller with narrower tips.",
-    "Reach out to grab the solid wood roller from the table",
-    "Securely grab the medium-sized roller using both arms.",
-    "Hold the palm-length roller on the table with hands.",
-    "Take hold of the wood roller.",
-    "Pick up the medium-sized roller from the table directly.",
-    "Firmly grip the light brown wooden roller on the table now.",
-    "Secure the light brown wooden roller on the table using arms.",
-    "Pick up the roller with smooth and shiny texture using both arms equally",
-    "Use both arms to grab the palm-length roller.",
-    "Take the roller with smooth and shiny texture directly from the table.",
-    "Lift the solid wood roller off the table with arms.",
-    "Both arms should grab the roller with smooth and shiny texture now.",
-    "Lift the solid wood roller with your arms.",
-    "Firmly grab the roller with polished surface using arms.",
-    "Reach for the medium roller with narrower tips and hold it firmly",
-    "Lift the roller with smooth and shiny texture off the table with both arms",
-    "Use both arms to grip the solid wood roller tightly.",
-    "Grasp the light brown wooden roller on the table with arms.",
-    "Take hold of the roller with smooth and shiny texture with both arms.",
-    "Use arms to hold the wooden rolling tool tightly.",
-    "Grasp the palm-length roller on the table.",
-    "Reach for the roller with smooth and shiny texture and grab it firmly.",
-    "Take hold of the palm-length roller using your arms.",
-    "Grip the palm-length roller firmly with arms.",
-    "Get hold of the palm-length roller using your arms",
-    "Secure the medium-sized roller with both arms.",
-    "Secure the light brown roller using your arms.",
-    "Place hands on the wood roller and lift.",
-    "Lift the medium roller with narrower tips from the table carefully.",
-    "Grasp the roller with polished surface firmly from the table.",
-    "Hold the solid wood roller from the table.",
-    "Take both arms to grasp the medium roller with narrower tips.",
-    "Lift the light brown wooden roller from the table.",
-    "Secure the light brown wooden roller from the table using arms",
-    "Hold the roller for smoothing materials with both arms to pick it up",
-    "Pick up the roller for smoothing materials using both arms.",
-    "Grab the roller with polished surface placed on the table.",
-    "Pick up the palm-length roller from the table.",
-    "Hold the wooden rolling tool firmly from the table.",
-    "Grab the solid wood roller directly from the table.",
-    "Grasp the solid wood roller firmly with arms.",
-    "Take hold of the light brown roller with arms.",
-    "Lift the wood roller from its place on the table",
-    "Use arms to firmly grab the roller for smoothing materials.",
-    "Bring both arms to grab the roller with polished surface.",
-    "Reach out to grab the cylindrical roller with tapered ends from the table",
-    "Securely grab the cylindrical roller with tapered ends using both arms.",
-    "Hold the roller with smooth and shiny texture on the table with hands.",
-    "Take hold of the solid wood roller.",
-    "Pick up the medium-sized roller from the table directly.",
-    "Firmly grip the cylindrical roller with tapered ends on the table now.",
-    "Secure the light brown wooden roller on the table using arms.",
-    "Pick up the light brown roller using both arms equally",
-    "Use both arms to grab the light brown roller.",
-    "Take the wood roller directly from the table.",
-    "Lift the wood roller off the table with arms.",
-    "Both arms should grab the roller for smoothing materials now.",
-    "Lift the roller for smoothing materials with your arms.",
-    "Firmly grab the roller for smoothing materials using arms.",
-    "Reach for the solid wood roller and hold it firmly",
-    "Lift the light brown wooden roller off the table with both arms",
-    "Use both arms to grip the roller for smoothing materials tightly.",
-    "Grasp the roller with smooth and shiny texture on the table with arms.",
-    "Take hold of the solid wood roller with both arms.",
-    "Use arms to hold the roller for smoothing materials tightly.",
-    "Grasp the solid wood roller on the table.",
-    "Reach for the wooden rolling tool and grab it firmly.",
-    "Take hold of the palm-length roller using your arms.",
-    "Grip the medium-sized roller firmly with arms.",
-    "Get hold of the medium roller with narrower tips using your arms"
-  ],
-  "unseen": [
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms"
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/instructions/episode9.json b/grab_roller/franka_clean/instructions/episode9.json
deleted file mode 100644
index 420d5ced20fe8ab6023689e713f855f7f2ac881b..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/instructions/episode9.json
+++ /dev/null
@@ -1,206 +0,0 @@
-{
-  "seen": [
-    "Take hold of the cylindrical roller with tapered ends using your arms.",
-    "Reach for the cylindrical roller with tapered ends and hold it firmly",
-    "Firmly grab the roller with polished surface using arms.",
-    "Hold the roller with smooth and shiny texture firmly from the table.",
-    "Grasp the cylindrical roller with tapered ends on the table with arms.",
-    "Hold the wood roller from the table.",
-    "Pick up the roller with smooth and shiny texture using both arms.",
-    "Lift the solid wood roller off the table with both arms",
-    "Pick up the medium roller with narrower tips from the table directly.",
-    "Secure the roller with smooth and shiny texture using your arms.",
-    "Take both arms to grasp the wood roller.",
-    "Pick up the roller with smooth and shiny texture from the table.",
-    "Secure the light brown wooden roller on the table using arms.",
-    "Lift the wood roller from the table.",
-    "Grab the palm-length roller placed on the table.",
-    "Use both arms to grab the roller with polished surface.",
-    "Hold the roller for smoothing materials with both arms to pick it up",
-    "Both arms should grab the roller with polished surface now.",
-    "Take hold of the palm-length roller with arms.",
-    "Lift the medium-sized roller with your arms.",
-    "Lift the wood roller off the table with arms.",
-    "Use arms to firmly grab the medium roller with narrower tips.",
-    "Securely grab the roller with smooth and shiny texture using both arms.",
-    "Secure the wooden rolling tool with both arms.",
-    "Place hands on the solid wood roller and lift.",
-    "Reach out to grab the cylindrical roller with tapered ends from the table",
-    "Lift the palm-length roller from the table carefully.",
-    "Grasp the roller with smooth and shiny texture firmly with arms.",
-    "Grip the cylindrical roller with tapered ends firmly with arms.",
-    "Reach for the cylindrical roller with tapered ends and grab it firmly.",
-    "Use both arms to grip the wooden rolling tool tightly.",
-    "Take the wood roller directly from the table.",
-    "Grasp the roller with smooth and shiny texture firmly from the table.",
-    "Bring both arms to grab the roller for smoothing materials.",
-    "Use arms to hold the medium-sized roller tightly.",
-    "Grasp the medium-sized roller on the table.",
-    "Grab the wood roller directly from the table.",
-    "Get hold of the solid wood roller using your arms",
-    "Take hold of the roller for smoothing materials.",
-    "Take hold of the palm-length roller with both arms.",
-    "Firmly grip the roller for smoothing materials on the table now.",
-    "Lift the medium roller with narrower tips from its place on the table",
-    "Hold the light brown roller on the table with hands.",
-    "Secure the light brown wooden roller from the table using arms",
-    "Pick up the light brown wooden roller using both arms equally",
-    "Take hold of the wood roller using your arms.",
-    "Reach for the light brown roller and hold it firmly",
-    "Firmly grab the roller for smoothing materials using arms.",
-    "Hold the roller with smooth and shiny texture firmly from the table.",
-    "Grasp the light brown roller on the table with arms.",
-    "Hold the roller with polished surface from the table.",
-    "Pick up the roller with smooth and shiny texture using both arms.",
-    "Lift the light brown wooden roller off the table with both arms",
-    "Pick up the wood roller from the table directly.",
-    "Secure the roller with polished surface using your arms.",
-    "Take both arms to grasp the light brown wooden roller.",
-    "Pick up the roller with polished surface from the table.",
-    "Secure the solid wood roller on the table using arms.",
-    "Lift the palm-length roller from the table.",
-    "Grab the light brown roller placed on the table.",
-    "Use both arms to grab the roller with polished surface.",
-    "Hold the light brown wooden roller with both arms to pick it up",
-    "Both arms should grab the light brown wooden roller now.",
-    "Take hold of the medium roller with narrower tips with arms.",
-    "Lift the solid wood roller with your arms.",
-    "Lift the cylindrical roller with tapered ends off the table with arms.",
-    "Use arms to firmly grab the cylindrical roller with tapered ends.",
-    "Securely grab the medium roller with narrower tips using both arms.",
-    "Secure the light brown wooden roller with both arms.",
-    "Place hands on the roller with polished surface and lift.",
-    "Reach out to grab the light brown roller from the table",
-    "Lift the roller with smooth and shiny texture from the table carefully.",
-    "Grasp the light brown wooden roller firmly with arms.",
-    "Grip the solid wood roller firmly with arms.",
-    "Reach for the roller with polished surface and grab it firmly.",
-    "Use both arms to grip the light brown roller tightly.",
-    "Take the roller with polished surface directly from the table.",
-    "Grasp the cylindrical roller with tapered ends firmly from the table.",
-    "Bring both arms to grab the roller with smooth and shiny texture.",
-    "Use arms to hold the roller with smooth and shiny texture tightly.",
-    "Grasp the roller with polished surface on the table.",
-    "Grab the roller with polished surface directly from the table.",
-    "Get hold of the roller for smoothing materials using your arms",
-    "Take hold of the medium-sized roller.",
-    "Take hold of the palm-length roller with both arms.",
-    "Firmly grip the medium-sized roller on the table now.",
-    "Lift the medium-sized roller from its place on the table",
-    "Hold the roller with smooth and shiny texture on the table with hands.",
-    "Secure the wood roller from the table using arms",
-    "Pick up the cylindrical roller with tapered ends using both arms equally",
-    "Take hold of the light brown roller using your arms.",
-    "Reach for the roller with polished surface and hold it firmly",
-    "Firmly grab the medium-sized roller using arms.",
-    "Hold the solid wood roller firmly from the table.",
-    "Grasp the wood roller on the table with arms.",
-    "Hold the cylindrical roller with tapered ends from the table.",
-    "Pick up the cylindrical roller with tapered ends using both arms.",
-    "Lift the cylindrical roller with tapered ends off the table with both arms",
-    "Pick up the cylindrical roller with tapered ends from the table directly.",
-    "Secure the wood roller using your arms."
-  ],
-  "unseen": [
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the roller with tapered tips with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the light brown cylindrical roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the roller with tapered tips on the table using arms",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the smooth wooden roller with both arms.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the smooth wooden roller with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the smooth wooden roller on the table with arms.",
-    "Grab the light brown cylindrical roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Grab the smooth wooden roller on the table.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the smooth wooden roller with both arms",
-    "Use arms to grab the smooth wooden roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the light brown cylindrical roller on the table with arms.",
-    "Grab the roller with tapered tips with both arms.",
-    "Use both arms to grab the smooth wooden roller.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Grab the light brown cylindrical roller on the table.",
-    "Hold the roller with tapered tips with both arms.",
-    "Reach and grab the light brown cylindrical roller with both arms",
-    "Use arms to grab the light brown cylindrical roller.",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the smooth wooden roller on the table using arms",
-    "Grab the roller with tapered tips on the table with arms.",
-    "Grab the light brown cylindrical roller with both arms.",
-    "Use both arms to grab the light brown cylindrical roller.",
-    "Use both arms to grab the roller with tapered tips.",
-    "Grab the roller with tapered tips on the table.",
-    "Hold the roller with tapered tips with both arms."
-  ]
-}
\ No newline at end of file
diff --git a/grab_roller/franka_clean/scene_info.json b/grab_roller/franka_clean/scene_info.json
deleted file mode 100644
index 3d9f920735017489ea9cf53d3d7f2600c9dbde48..0000000000000000000000000000000000000000
--- a/grab_roller/franka_clean/scene_info.json
+++ /dev/null
@@ -1,502 +0,0 @@
-{
-    "episode_0": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_1": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_2": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_3": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_4": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_5": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_6": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_7": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_8": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_9": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_10": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_11": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_12": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_13": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_14": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_15": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_16": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_17": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_18": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_19": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_20": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base0"
-        }
-    },
-    "episode_21": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_22": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_23": {
-        "cluttered_table_info": [],
-        "texture_info": {
-            "wall_texture": null,
-            "table_texture": null
-        },
-        "info": {
-            "{A}": "102_roller/base2"
-        }
-    },
-    "episode_24": {
-        "cluttered_table_info": [],
-        "texture_info": {
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