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"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/ori_data/grab_roller/franka_clean/instructions/episode1.json b/ori_data/grab_roller/franka_clean/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..d46bc06e3a6f8873318dbfac6f10e31edb36f944 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode10.json b/ori_data/grab_roller/franka_clean/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..10d2422a2908bdad476e1603a8b49e40f577f0d5 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode11.json b/ori_data/grab_roller/franka_clean/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..e0cd01a86c5bdbdb31a33b4708081c6523331205 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode12.json b/ori_data/grab_roller/franka_clean/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..a37494f2586eeb1e64c51f47d9a173fca7cf34fe --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode13.json b/ori_data/grab_roller/franka_clean/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..4e7986bc418e6d023590239be2477a53fb26bc07 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode14.json b/ori_data/grab_roller/franka_clean/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..701ce09c1e8b5e427b075320cf68e1cdb1fabc39 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode15.json b/ori_data/grab_roller/franka_clean/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..f4639071789292c1bb7a1da92ccdef4d495952b6 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode16.json b/ori_data/grab_roller/franka_clean/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..a56344c643ab654ffd4209fbaf5804ae35e49b21 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode17.json b/ori_data/grab_roller/franka_clean/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..228ba4ed1a424e3752de77fb032183f6b3ec5018 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode18.json b/ori_data/grab_roller/franka_clean/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..4a46c1f5f4318c9dd5433cac2c6f3371b906aa04 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode19.json b/ori_data/grab_roller/franka_clean/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..51d923c2eb5a724a8470ca351a41d4571ee0d143 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode2.json b/ori_data/grab_roller/franka_clean/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..2cfcd64a14573bd10a005dd74e49c871e9e9a1ac --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode20.json b/ori_data/grab_roller/franka_clean/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..c23c7c61fe33fc4767a0dea1f82f2971d7b1e3f2 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode21.json b/ori_data/grab_roller/franka_clean/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..c77ab0d94e7ad61dd59a208f7f720be1443e0b37 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode22.json b/ori_data/grab_roller/franka_clean/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..47159bdf519a4c52702b72257ae193a9a7a76db0 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode23.json b/ori_data/grab_roller/franka_clean/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..25f2a8158502171441bfc2a3fa63c9a7dd85dfb2 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode24.json b/ori_data/grab_roller/franka_clean/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9163bea5a05c93ea7e4916105a2b786ba6d016 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode25.json b/ori_data/grab_roller/franka_clean/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..e045daf8d29888adb0542826d2c064cd3c143383 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode26.json b/ori_data/grab_roller/franka_clean/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..c97918e436e9961e61a23b8bf64f94a92b3d696f --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode27.json b/ori_data/grab_roller/franka_clean/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..c8163c07643e792a68d215f9e12b5ea3cfc43f88 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode28.json b/ori_data/grab_roller/franka_clean/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5346892a05f87a2a32c8e04e2c252d1089d001 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode29.json b/ori_data/grab_roller/franka_clean/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..af605a681fd8b64cfa1b03ec5552dd3c850b7f6f --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode3.json b/ori_data/grab_roller/franka_clean/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..515b22c4ea85151c3bb069b082db3fbe6c7689e2 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode30.json b/ori_data/grab_roller/franka_clean/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..7a304e942c476814bebf4da09a52fcfed3d1584b --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode31.json b/ori_data/grab_roller/franka_clean/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc7d0ac25c2e745c7bb32f92ce8004868ecef8c --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode32.json b/ori_data/grab_roller/franka_clean/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..b4be2dcf9b14ced68cd8d7df21d4fa7bed423ffc --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode33.json b/ori_data/grab_roller/franka_clean/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..263128ec684141807db588d50760df3a33046bf6 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode34.json b/ori_data/grab_roller/franka_clean/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..1f45b74015a2e00949c755f8bb33187681c1dfe9 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode35.json b/ori_data/grab_roller/franka_clean/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..563f13ef0e45e4dadde57a1d0b5c858c8e0fdc5e --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode36.json b/ori_data/grab_roller/franka_clean/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..e9cbaf83a8e9f99173080c3efb6f3877b00ce2d3 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode37.json b/ori_data/grab_roller/franka_clean/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..ffae52be205f9b2678ce14cc2127e7f2ae6e86b7 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode38.json b/ori_data/grab_roller/franka_clean/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..29d426ddd18f87ec8275e6459eb4e3a599493eda --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode39.json b/ori_data/grab_roller/franka_clean/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..1c42cc0af3880742c0c620cf0fea5894cb1cfb58 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode4.json b/ori_data/grab_roller/franka_clean/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..9bdfd6d1f40ec27ba7ef74e073db732ec9d9a7bb --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode40.json b/ori_data/grab_roller/franka_clean/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..3f7690743e121891711589446ae57931f5e19681 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode41.json b/ori_data/grab_roller/franka_clean/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..b154172c4f3799c57c0d75f3535811968e659ded --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode42.json b/ori_data/grab_roller/franka_clean/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..52864c4d40508424bc014c5b42eb9d8ed8430354 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode43.json b/ori_data/grab_roller/franka_clean/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..d64de1fe2ce69ce8edbddff9da70e1e9056852c8 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode44.json b/ori_data/grab_roller/franka_clean/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..2912fda43736a6e723f966b143e191bce03bc02e --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode45.json b/ori_data/grab_roller/franka_clean/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..cf9c36269918131748ca9bc2c9a5a52e30500f79 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode46.json b/ori_data/grab_roller/franka_clean/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..ace0ed7648ae927a7d25a3ab7c2a773076670f2c --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode47.json b/ori_data/grab_roller/franka_clean/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..aff2c8d59c6a5b8400239918dd0474600bf42604 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode48.json b/ori_data/grab_roller/franka_clean/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..09c5c46327e2ca75bb4425328729f8d7cbe7eebd --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode49.json b/ori_data/grab_roller/franka_clean/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..aa17777586bb8660a9ddd525748e8d70cd658078 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode5.json b/ori_data/grab_roller/franka_clean/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..bb0ca6d3bb3c394dd4c1793a8a7940338abed9f1 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode6.json b/ori_data/grab_roller/franka_clean/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..6feed88ebe8005481ff95a5636669a930ed7c5b3 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode7.json b/ori_data/grab_roller/franka_clean/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..012bd9b49a307f98f85b6379c8a2bdd45e509b86 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode8.json b/ori_data/grab_roller/franka_clean/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..c552fc7e1fd6a78ccfadb9d6f8fd298ea6790932 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/instructions/episode9.json b/ori_data/grab_roller/franka_clean/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..420d5ced20fe8ab6023689e713f855f7f2ac881b --- /dev/null +++ b/ori_data/grab_roller/franka_clean/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "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/ori_data/grab_roller/franka_clean/scene_info.json b/ori_data/grab_roller/franka_clean/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..3d9f920735017489ea9cf53d3d7f2600c9dbde48 --- /dev/null +++ b/ori_data/grab_roller/franka_clean/scene_info.json @@ -0,0 +1,502 @@ +{ + "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": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "102_roller/base0" + } + }, + "episode_25": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "102_roller/base2" + } + }, + "episode_26": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "102_roller/base2" + } + }, + "episode_27": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "102_roller/base0" + } + }, + "episode_28": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "102_roller/base2" + } + }, + "episode_29": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "102_roller/base2" + } + }, + "episode_30": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": 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0000000000000000000000000000000000000000..be9588ee3101875a39bf7fdc182ff8f5a738ace6 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/data/episode5.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b1eb1bb16aefd3dbba32fb1366ee1189d8e6b29aea45253bb5e473b5a2c2bfa +size 13910524 diff --git a/ori_data/handover_mic/franka_clean/data/episode6.hdf5 b/ori_data/handover_mic/franka_clean/data/episode6.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d7789fec4cc872c38c893781e943a87e1d089d19 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/data/episode6.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c45bca4df5ecff757d8c2e2b89f3e507bee5edac940b4f6828108141ac0de371 +size 13472291 diff --git a/ori_data/handover_mic/franka_clean/data/episode7.hdf5 b/ori_data/handover_mic/franka_clean/data/episode7.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..e441e87a1072e3464ed7b02599caef61a247977c --- /dev/null +++ b/ori_data/handover_mic/franka_clean/data/episode7.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9bdf27a9a747774916d1b44dc7e14157895249831b453f3dd0d1c4e7c706e14 +size 10606934 diff --git a/ori_data/handover_mic/franka_clean/data/episode8.hdf5 b/ori_data/handover_mic/franka_clean/data/episode8.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1236d615e636d5bd5e8c6038bd6f6902207ef967 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/data/episode8.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b09c3f8b79a469c4a26c64a2a0d3fc9d4ec73e90e72118e90f966e0c284641d +size 14902976 diff --git a/ori_data/handover_mic/franka_clean/data/episode9.hdf5 b/ori_data/handover_mic/franka_clean/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..cd26ee8a69fd2039f5fa335af1430f902c692aad --- /dev/null +++ b/ori_data/handover_mic/franka_clean/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b7914ebbad03a1718d4d7a0d70261c4a304b05935253022a50926d2c4f7e623 +size 8343659 diff --git a/ori_data/handover_mic/franka_clean/instructions/episode0.json b/ori_data/handover_mic/franka_clean/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..f6edc1c075118723cded4ed6c1214ea2f9bc4f98 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone for recording sound and deliver it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the dark blue microphone and move it to the other hand.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Pick up the microphone with dark blue padding and hand it to the other side.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Hold the dark blue microphone with the right arm and give it to the left arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Take the dark blue microphone and pass it to another hand", + "Take the small audio microphone, shift it, and release it to the other side.", + "Secure the audio microphone with soft covering using one arm and transfer it.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Pick up the round head microphone and move it to the opposite side", + "Lift the small audio microphone and hand it to someone else.", + "Grab the microphone for recording sound and transfer it to another hand", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the microphone covered with foam tip and pass it across.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Secure the microphone with smooth gray stem from the table and transfer it.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Take the round head microphone using the right arm and transfer it to the left arm.", + "Lift the audio microphone with soft covering and pass it across.", + "Seize the small audio microphone and offer it to the other arm", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Hold the audio microphone with soft covering and shift it to the other arm.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the round head microphone and hand it over to the other side.", + "Lift the microphone with smooth gray stem and deliver it to the other side.", + "Use one hand to grab the microphone with smooth gray stem and pass it.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Use the right arm to grab the round head microphone and transfer it to the left arm.", + "Lift the microphone with round foam head using the right arm and pass it to the left arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Take the round head microphone and move it to the other hand.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Hold the dark blue microphone with one hand and transfer it", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Lift the round head microphone, then pass it across without delay.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Take the round head microphone and pass it to another hand", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Secure the dark blue microphone using one arm and transfer it.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Pick the gray stem microphone with foam top and transfer it to the other arm.", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Use the right arm to hold the small audio microphone, then give it to the left arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Lift the microphone for recording sound and hand it to someone else.", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the dark blue microphone and move it to another hand.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Hold the microphone covered with foam tip and pass it to the other hand.", + "Grasp the small audio microphone, then give it to the other arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Secure the microphone covered with foam tip from the table and transfer it.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it to the other side easily.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Lift the microphone with round foam head and pass it across.", + "Seize the dark blue microphone and offer it to the other arm", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Hold the round head microphone and shift it to the other arm.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Pick the dark blue microphone from the surface and switch hands.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grab the round head microphone and give it to the opposite arm.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Take the small audio microphone and move it to the other hand.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick up the round head microphone and hand it to the other side." + ], + "unseen": [ + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode1.json b/ori_data/handover_mic/franka_clean/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6bb74b705491ce9f29dfe4e96f610f9290c461 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Grip the microphone with white rounded head and pass it to the other side", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick up the textured white microphone head and move it to the opposite side", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Take the sound microphone with teal body and pass it to another hand", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Lift the plastic teal microphone with slider and pass it across.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Use the left arm to grab the microphone with white rounded head and transfer it to the right arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Take the microphone with slider switch and move it to another hand.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Grab the plastic teal microphone with slider using the left arm and pass it over to the right arm.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Take the compact teal and white microphone and move it to the other hand.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Hold the sound microphone with teal body and deliver it to another side.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Pick the teal microphone and transfer it to the other arm.", + "Seize the teal microphone and offer it to the other arm", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Lift the handheld teal microphone and hand it to someone else.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Grab the teal microphone and smoothly give it to the other arm.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Grab the textured white microphone head and transfer it to another hand", + "Take the teal microphone and pass it to another hand", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Lift the plastic teal microphone with slider and pass it across.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Lift the teal microphone, then pass it across without delay.", + "Lift the teal microphone and hand it over to the other arm.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Take the textured white microphone head and move it to the other hand.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Hold the microphone with slider switch and deliver it to another side.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Pick the long microphone with smooth teal grip and transfer it to the other arm.", + "Seize the sound microphone with teal body and offer it to the other arm", + "Secure the handheld teal microphone from the table and transfer it.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Grip the sound microphone with teal body and pass it to the other side", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode10.json b/ori_data/handover_mic/franka_clean/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..6721b0b1956e77ba9100a8092783d54abca07427 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the black and white microphone and give it to the other.", + "Secure the compact size microphone from the table and transfer it.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Take the black and white microphone and pass it to another hand", + "Grab the black and white microphone and transfer it to another hand", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Lift the handheld microphone and hand it over to the other arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Pick the handheld microphone from the surface and switch hands.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Lift the handheld microphone and hand it to someone else.", + "Take the microphone for voice recording and move it to another hand.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Hold the black and white microphone with one hand and transfer it", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the microphone with textured metal head and pass it across.", + "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Hold the compact size microphone securely and shift it to another arm.", + "Take the compact size microphone and move it to the other hand.", + "Pick up the handheld microphone and move it to the opposite side", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Grab the compact size microphone and give it to the opposite arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Use the right arm to grab the metal head microphone and transfer it to the left arm.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the white microphone handle black accents and pass it across.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Secure the compact size microphone from the table and transfer it.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Take the handheld microphone and pass it to another hand", + "Grab the metal head microphone and transfer it to another hand", + "Hold the black and white microphone and shift it to the other arm.", + "Lift the handheld microphone and hand it over to the other arm.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Pick the black and white microphone from the surface and switch hands.", + "Take the microphone for voice recording using the right arm and transfer it to the left arm.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grasp the black and white microphone, then give it to the other arm.", + "Lift the compact size microphone and hand it to someone else.", + "Take the handheld microphone and move it to another hand.", + "Grab the compact size microphone using the right arm and pass it over to the left arm.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the white microphone handle black accents using the right arm and pass it to the left arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Lift the black and white microphone and hand it to the other side easily.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Lift the white microphone handle black accents and pass it across.", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Take the black and white microphone and move it to the other hand.", + "Pick up the metal head microphone and move it to the opposite side", + "Hold the black and white microphone with the right arm and give it to the left arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Secure the handheld microphone from the table and transfer it.", + "Grip the black and white microphone and pass it to the other side", + "Take the microphone with textured metal head and pass it to another hand", + "Grab the microphone for voice recording and transfer it to another hand", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Pick the microphone with cylindrical handle from the surface and switch hands." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode11.json b/ori_data/handover_mic/franka_clean/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e3d1c9750cbe5dce71cbd56bdb0fd28bd1d3f4 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Grasp the microphone with round foam head, transfer it, then let go of it smoothly.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the gray and dark blue microphone and hand it over to the other arm.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Hold the dark blue microphone and pass it to the other hand.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Take the microphone with round foam head and move it to the other hand.", + "Grab the medium microphone with two-tone color and smoothly give it to the other arm.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Take the dark blue microphone and move it to another hand.", + "Grasp the medium microphone with two-tone color, then give it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Lift the small audio microphone and hand it over to the other side.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Lift the small audio microphone and pass it across.", + "Use the right arm to hold the dark blue microphone, then give it to the left arm.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Secure the dark blue microphone using one arm and transfer it.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Hold the round head microphone and shift it to the other arm.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Pick up the round head microphone and hand it to the other side.", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Take the round head microphone and pass it to another hand", + "Reach for the microphone for recording sound and move it to the other hand.", + "Secure the round head microphone from the table and transfer it.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Take the round head microphone and move it to the other hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the microphone for recording sound and move it to another hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Lift the medium microphone with two-tone color and pass it across.", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Use one arm to pick up the gray and dark blue microphone and give it to the other.", + "Pick up the dark blue microphone and move it to the opposite side", + "Secure the gray stem microphone with foam top using one arm and transfer it.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Grasp the small audio microphone and pass it across.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Grip the microphone with round foam head and pass it to the other side", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Take the gray and dark blue microphone, pass it, and release it to complete the task.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the microphone with round foam head and hand it to someone else.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick the microphone with smooth gray stem and transfer it to the other arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone and pass it to the other hand." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode12.json b/ori_data/handover_mic/franka_clean/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..b36700dd2c8bb482b73878d9ba2816c3637bbb20 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the rounded white tip microphone and deliver it to another side.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Grip the compact teal and white microphone and pass it to the other side", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Use the left arm to grab the textured white microphone head and transfer it to the right arm.", + "Pick up the sound microphone with teal body and hand it to the other side.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it over to the other side.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Take the microphone with slider switch and move it to another hand.", + "Take the handheld teal microphone and move it to the other hand.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Grab the teal microphone and transfer it to another hand", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Hold the textured white microphone head with the left arm and give it to the right arm.", + "Secure the textured white microphone head using one arm and transfer it.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Grasp the textured white microphone head and pass it across.", + "Lift the rounded white tip microphone and pass it across.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Lift the teal microphone and deliver it to the other side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Hold the teal microphone with one hand and transfer it", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Use the left arm to hold the compact teal and white microphone, then give it to the right arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Grasp the teal microphone, then give it to the other arm.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Grip the microphone with slider switch and pass it to the other side", + "Take the teal microphone and pass it to another hand", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Pick up the teal microphone and move it to the opposite side", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Seize the microphone with slider switch and offer it to the other arm", + "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Lift the textured white microphone head and hand it over to the other side.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Grab the sound microphone with teal body and give it to the opposite arm.", + "Take the white bottom microphone with textured tip and move it to another hand.", + "Take the sound microphone with teal body and move it to the other hand.", + "Hold the teal microphone and pass it to the other hand.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Grab the textured white microphone head and transfer it to another hand", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Grasp the textured white microphone head and pass it across.", + "Lift the microphone with white rounded head and pass it across.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Lift the teal microphone and deliver it to the other side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Hold the handheld teal microphone securely and shift it to another arm.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm." + ], + "unseen": [ + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode13.json b/ori_data/handover_mic/franka_clean/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..dc76193d3ef5c18666003132227c7d994f97f170 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Secure the handheld teal microphone from the table and transfer it.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grab the textured white microphone head and transfer it to another hand", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Secure the textured white microphone head using one arm and transfer it.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Take the white and teal sound microphone, pass it, and release it to complete the task.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Grasp the white bottom microphone with textured tip and pass it across.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Seize the microphone with slider switch and offer it to the other arm", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Hold the handheld teal microphone with one hand and transfer it", + "Hold the rounded white tip microphone firmly and pass it to the other arm.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Grip the compact teal and white microphone and pass it to the other side", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Reach for the teal microphone and move it to the other hand.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Take the textured white microphone head and move it to another hand.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Lift the plastic teal microphone with slider and pass it across.", + "Lift the textured white microphone head, then pass it across without delay.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Pick up the handheld teal microphone and move it to the opposite side", + "Secure the white and teal sound microphone from the table and transfer it.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Grab the textured white microphone head and transfer it to another hand", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Grasp the teal microphone and switch it to another hand.", + "Take the white and teal sound microphone and pass it to another hand", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Seize the microphone with white rounded head and offer it to the other arm", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Hold the microphone with slider switch with one hand and transfer it", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Hold the rounded white tip microphone with the left arm and give it to the right arm.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Reach for the teal microphone and move it to the other hand.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Take the teal microphone and move it to another hand.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Grab the teal microphone and give it to the opposite arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Lift the microphone with white rounded head and pass it across.", + "Lift the teal microphone, then pass it across without delay.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Secure the teal microphone from the table and transfer it.", + "Hold the teal microphone and pass it to the other hand." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode14.json b/ori_data/handover_mic/franka_clean/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..37172aacacf1198764e8f6c7d532018770d44621 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the handheld teal microphone and pass it.", + "Grasp the textured white microphone head and switch it to another hand.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Secure the textured white microphone head from the table and transfer it.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Lift the handheld teal microphone and pass it across.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Take the microphone with slider switch using the right arm and transfer it to the left arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Take the microphone with slider switch and move it to another hand.", + "Hold the teal microphone with one hand and transfer it", + "Hold the teal microphone and pass it to the other hand.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Hold the textured white microphone head with the right arm and give it to the left arm.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grasp the white and teal sound microphone and pass it across.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Take the microphone with slider switch and move it to the other hand.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Lift the handheld teal microphone and hand it to someone else.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Secure the plastic teal microphone with slider from the table and transfer it.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Pick the compact teal and white microphone from the surface and switch hands.", + "Use the right arm to grab the sound microphone with teal body and transfer it to the left arm.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Lift the microphone with white rounded head and pass it across.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Pick up the teal microphone and hand it to the other side.", + "Grab the microphone with slider switch using the right arm and pass it over to the left arm.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Take the compact teal and white microphone and move it to another hand.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Lift the rounded white tip microphone using the right arm and pass it to the left arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grasp the textured white microphone head and pass it across.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Take the teal microphone and move it to the other hand.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Use one hand to grab the white and teal sound microphone and pass it.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Secure the sound microphone with teal body from the table and transfer it.", + "Take the teal microphone, shift it, and release it to the other side.", + "Pick the textured white microphone head from the surface and switch hands.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Lift the handheld teal microphone and pass it across.", + "Secure the handheld teal microphone using one arm and transfer it." + ], + "unseen": [ + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode15.json b/ori_data/handover_mic/franka_clean/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..52a5b2ddb3bbdd22472200243bcf8fe5467f88bd --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Lift the mesh-patterned microphone head and pass it across.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Lift the handheld microphone and deliver it to the other side.", + "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Lift the handheld microphone and hand it to someone else.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Use the left arm to grab the microphone for voice recording and transfer it to the right arm.", + "Grab the handheld microphone and transfer it to another hand", + "Pick up the handheld microphone and hand it to the other side.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Take the handheld microphone and pass it to another hand", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the compact size microphone and pass it across.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Lift the metal head microphone and hand it over to the other arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Grab the black and white microphone and give it to the opposite arm.", + "Grip the metal head microphone and pass it to the other side", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Pick the metal head microphone from the surface and switch hands.", + "Hold the handheld microphone with one hand and transfer it", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Lift the compact size microphone, then pass it across without delay.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Take the handheld microphone and move it to the other hand.", + "Grab the microphone with rounded mesh head using the left arm and pass it over to the right arm.", + "Lift the handheld microphone and pass it across.", + "Lift the black and white microphone and hand it over to the other side.", + "Secure the microphone with cylindrical handle using one arm and transfer it.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Lift the metal head microphone and deliver it to the other side.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Grab the black and white microphone and transfer it to another hand", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Hold the metal head microphone and deliver it to another side.", + "Grasp the compact size microphone and switch it to another hand.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Seize the handheld microphone and offer it to the other arm", + "Grasp the black and white microphone and pass it across.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Pick the compact size microphone and transfer it to the other arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Lift the black and white microphone and hand it over to the other arm.", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grip the compact size microphone and pass it to the other side", + "Grasp the handheld microphone, then give it to the other arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Pick the microphone with cylindrical handle from the surface and switch hands.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Hold the metal head microphone and pass it to the other hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Lift the handheld microphone and pass it across.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Secure the smooth plastic microphone handle using one arm and transfer it.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Secure the smooth plastic microphone handle from the table and transfer it." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode16.json b/ori_data/handover_mic/franka_clean/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..687994cdbba55c6eaf4ef3bdd8588a79ab73ba86 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Take the textured white microphone head, shift it, and release it to the other side.", + "Hold the handheld teal microphone with one hand and transfer it", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Grasp the rounded white tip microphone and pass it across.", + "Lift the teal microphone and hand it to someone else.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Lift the long microphone with smooth teal grip and deliver it to the other side.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Grab the textured white microphone head and transfer it to another hand", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Take the teal microphone, pass it, and release it to complete the task.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Use one hand to grab the textured white microphone head and pass it.", + "Lift the textured white microphone head and pass it across.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Lift the handheld teal microphone using the left arm and pass it to the right arm.", + "Take the white and teal sound microphone and pass it to another hand", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Pick the microphone with slider switch and transfer it to the other arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Secure the sound microphone with teal body from the table and transfer it.", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Grasp the handheld teal microphone and pass it across.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Seize the textured white microphone head and offer it to the other arm", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grasp the teal microphone and switch it to another hand.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Grab the teal microphone and transfer it to another hand", + "Use the left arm to grab the handheld teal microphone and transfer it to the right arm.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Take the microphone with slider switch and move it to another hand.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Lift the handheld teal microphone and pass it across.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Take the white and teal sound microphone and pass it to another hand", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Hold the handheld teal microphone and pass it to the other hand.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Hold the compact teal and white microphone and deliver it to another side.", + "Pick up the teal microphone and hand it to the other side.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Pick up the microphone with slider switch, pass it to the other arm, and release.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the textured white microphone head with one hand and transfer it", + "Secure the textured white microphone head from the table and transfer it.", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grasp the teal microphone and pass it across.", + "Lift the textured white microphone head and hand it to someone else.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Seize the compact teal and white microphone and offer it to the other arm" + ], + "unseen": [ + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode17.json b/ori_data/handover_mic/franka_clean/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..4998c1f185471b5950d486b97f970a41751f3e75 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the teal microphone and pass it.", + "Secure the teal microphone using one arm and transfer it.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grasp the textured white microphone head, then give it to the other arm.", + "Grab the plastic teal microphone with slider using the right arm and pass it over to the left arm.", + "Take the microphone with white rounded head and move it to another hand.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Hold the plastic teal microphone with slider with the right arm and give it to the left arm.", + "Lift the teal microphone and pass it across.", + "Grip the microphone with white rounded head and pass it to the other side", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Take the compact teal and white microphone and move it to the other hand.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grasp the handheld teal microphone and pass it across.", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Use the right arm to hold the sound microphone with teal body, then give it to the left arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.", + "Pick up the textured white microphone head and hand it to the other side.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the microphone with slider switch and hand it over to the other side.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Hold the textured white microphone head and pass it to the other hand.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Secure the textured white microphone head from the table and transfer it.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Pick up the handheld teal microphone and transfer it to the opposite side.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grab the teal microphone and give it to the opposite arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Take the teal microphone and pass it to another hand", + "Hold the microphone with slider switch with one hand and transfer it", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Hold the rounded white tip microphone with the right arm and give it to the left arm.", + "Lift the rounded white tip microphone and pass it across.", + "Grip the microphone with white rounded head and pass it to the other side", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Take the teal microphone and move it to the other hand.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.", + "Seize the white and teal sound microphone and offer it to the other arm", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Hold the textured white microphone head and deliver it to another side.", + "Grab the textured white microphone head and transfer it to another hand", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Secure the teal microphone from the table and transfer it.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Lift the textured white microphone head and deliver it to the other side.", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Lift the microphone with slider switch and hand it to someone else." + ], + "unseen": [ + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode18.json b/ori_data/handover_mic/franka_clean/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..5b83891bc688a6956a2a301604a186906c36e912 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with black tip and white body and hand it to someone else.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grasp the metal head microphone, then give it to the other arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Pick the metal head microphone and transfer it to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Pick the compact size microphone from the surface and switch hands.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Lift the white microphone handle black accents using the left arm and pass it to the right arm.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Lift the microphone with textured metal head and pass it across.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Take the black and white microphone using the left arm and transfer it to the right arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Lift the compact size microphone and hand it over to the other side.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Use one arm to pick up the microphone with rounded mesh head and give it to the other.", + "Hold the metal head microphone and deliver it to another side.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Secure the black and white microphone using one arm and transfer it.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Grab the metal head microphone and transfer it to another hand", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Lift the microphone with rounded mesh head, then pass it across without delay.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Grip the microphone for voice recording and pass it to the other side", + "Grasp the black and white microphone and switch it to another hand.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Take the metal head microphone and move it to the other hand.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Grab the handheld microphone and give it to the opposite arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Lift the microphone for voice recording and pass it across.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Take the metal head microphone, shift it, and release it to the other side.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Reach for the microphone with textured metal head and move it to the other hand.", + "Secure the compact size microphone from the table and transfer it.", + "Lift the compact size microphone and deliver it to the other side.", + "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.", + "Take the microphone with black tip and white body and move it to another hand.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Secure the metal head microphone using one arm and transfer it.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grab the handheld microphone and transfer it to another hand", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Grip the white microphone handle black accents and pass it to the other side", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Grasp the black and white microphone, then give it to the other arm.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Pick the metal head microphone and transfer it to the other arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Take the smooth plastic microphone handle and move it to the other hand." + ], + "unseen": [ + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode19.json b/ori_data/handover_mic/franka_clean/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..22436e7a3015fb4f073ff0cb9ac299140bd99e64 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the white bottom microphone with textured tip and transfer it to the opposite side.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Take the white and teal sound microphone and pass it to another hand", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Lift the white bottom microphone with textured tip and hand it to someone else.", + "Lift the white bottom microphone with textured tip and hand it over to the other arm.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Hold the compact teal and white microphone and shift it to the other arm.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Grip the textured white microphone head and pass it to the other side", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Take the compact teal and white microphone and move it to the other hand.", + "Take the microphone with white rounded head and move it to another hand.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Lift the long microphone with smooth teal grip and pass it across.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Use one hand to grab the textured white microphone head and pass it.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Lift the teal microphone and hand it to the other side easily.", + "Lift the teal microphone and hand it over to the other side.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Take the handheld teal microphone and pass it to another hand", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Grip the microphone with white rounded head and pass it to the other side", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Lift the microphone with slider switch using the right arm and pass it to the left arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Take the microphone with white rounded head and move it to the other hand.", + "Take the microphone with white rounded head and move it to another hand.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Grab the teal microphone and give it to the opposite arm.", + "Seize the microphone with slider switch and offer it to the other arm", + "Lift the sound microphone with teal body and pass it across.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Lift the textured white microphone head and hand it over to the other side.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Pick up the plastic teal microphone with slider and transfer it to the opposite side.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Take the handheld teal microphone and pass it to another hand", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Take the white and teal sound microphone using the right arm and transfer it to the left arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Lift the sound microphone with teal body and hand it to someone else.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Hold the compact teal and white microphone and shift it to the other arm." + ], + "unseen": [ + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode2.json b/ori_data/handover_mic/franka_clean/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..5b270f2641cc22e9db9f3daa0e63499e701c7ee5 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone with rounded mesh head and pass it to another hand", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Lift the microphone with cylindrical handle and pass it across.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Take the compact size microphone and move it to another hand.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Hold the microphone for voice recording with one hand and transfer it", + "Hold the metal head microphone and shift it to the other arm.", + "Use the right arm to hold the microphone with textured metal head, then give it to the left arm.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Use the right arm to grab the mesh-patterned microphone head and transfer it to the left arm.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Lift the microphone for voice recording and hand it to someone else.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Grab the microphone for voice recording and transfer it to another hand", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Lift the metal head microphone, then pass it across without delay.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Grab the handheld microphone and give it to the opposite arm.", + "Take the compact size microphone and pass it to another hand", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Hold the black and white microphone and deliver it to another side.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Lift the microphone for voice recording and pass it across.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Lift the compact size microphone using the right arm and pass it to the left arm.", + "Take the handheld microphone and move it to another hand.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Hold the smooth plastic microphone handle and shift it to the other arm.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Grasp the compact size microphone and switch it to another hand.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Use the right arm to grab the handheld microphone and transfer it to the left arm.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Take the mesh-patterned microphone head using the right arm and transfer it to the left arm.", + "Lift the handheld microphone and hand it to someone else.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Lift the handheld microphone and deliver it to the other side.", + "Pick the handheld microphone and transfer it to the other arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grip the black and white microphone and pass it to the other side", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Pick up the black and white microphone and move it to the opposite side", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Secure the microphone for voice recording from the table and transfer it.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Lift the handheld microphone, then pass it across without delay.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Grab the black and white microphone and give it to the opposite arm.", + "Take the metal head microphone and pass it to another hand", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Reach for the black and white microphone and move it to the other hand.", + "Hold the compact size microphone and deliver it to another side.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Lift the handheld microphone and pass it across.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Use one hand to grab the handheld microphone and pass it." + ], + "unseen": [ + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode20.json b/ori_data/handover_mic/franka_clean/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..61495ed62493be3509d347efc6789af4d6c7b32c --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the mesh-patterned microphone head and switch it to another hand.", + "Grab the microphone with black tip and white body using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Pick up the microphone with rounded mesh head and move it to the opposite side", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the microphone for voice recording and deliver it to another side.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Hold the handheld microphone with one hand and transfer it", + "Lift the handheld microphone and hand it to someone else.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Hold the compact size microphone securely and shift it to another arm.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Grab the mesh-patterned microphone head and transfer it to another hand", + "Take the compact size microphone and move it to the other hand.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Grab the black and white microphone and give it to the opposite arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Grasp the mesh-patterned microphone head and shift it to the opposite hand.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Take the microphone for voice recording and move it to another hand.", + "Grasp the metal head microphone, then give it to the other arm.", + "Lift the metal head microphone and pass it across.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Seize the compact size microphone and offer it to the other arm", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Lift the microphone for voice recording and hand it over to the other side.", + "Hold the microphone for voice recording and deliver it to another side.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Pick the compact size microphone from the surface and switch hands.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Lift the smooth plastic microphone handle and deliver it to the other side.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Lift the microphone with rounded mesh head using the left arm and pass it to the right arm.", + "Secure the black and white microphone from the table and transfer it.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Use the left arm to grab the handheld microphone and transfer it to the right arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the microphone for voice recording and pass it across.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Secure the microphone for voice recording using one arm and transfer it.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Hold the microphone with black tip and white body and shift it to the other arm.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Take the compact size microphone and move it to the other hand.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grab the compact size microphone and give it to the opposite arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Take the metal head microphone and move it to another hand.", + "Grasp the handheld microphone, then give it to the other arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Pick up the handheld microphone and move it to the opposite side", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Hold the black and white microphone and deliver it to another side.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Pick the smooth plastic microphone handle from the surface and switch hands." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode21.json b/ori_data/handover_mic/franka_clean/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..006990928908d7b303bd97134044bb8920279def --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the compact size microphone and switch it to another hand.", + "Lift the microphone for voice recording and pass it across.", + "Pick the black and white microphone from the surface and switch hands.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the microphone for voice recording and move it to the other hand.", + "Lift the handheld microphone and hand it to someone else.", + "Take the microphone with cylindrical handle and pass it to another hand", + "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Secure the compact size microphone from the table and transfer it.", + "Use one hand to grab the compact size microphone and pass it.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Lift the mesh-patterned microphone head using the right arm and pass it to the left arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Seize the compact size microphone and offer it to the other arm", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Hold the compact size microphone and deliver it to another side.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grab the microphone with black tip and white body using the right arm and pass it over to the left arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Lift the compact size microphone and hand it over to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grasp the metal head microphone and pass it across.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Take the microphone with textured metal head and move it to another hand.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Grab the handheld microphone and transfer it to another hand", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the metal head microphone, then pass it across without delay.", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Grab the mesh-patterned microphone head and smoothly give it to the other arm.", + "Grasp the black and white microphone and switch it to another hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Pick the handheld microphone from the surface and switch hands.", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Hold the black and white microphone with one hand and transfer it", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Take the metal head microphone and pass it to another hand", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Secure the microphone with textured metal head from the table and transfer it.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Grab the compact size microphone and give it to the opposite arm.", + "Pick up the microphone with black tip and white body and hand it to the other side.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Seize the metal head microphone and offer it to the other arm", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Grab the black and white microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grasp the microphone for voice recording and pass it across.", + "Pick up the handheld microphone and move it to the opposite side", + "Take the white microphone handle black accents and move it to another hand.", + "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the metal head microphone, then pass it across without delay.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Hold the handheld microphone securely and shift it to another arm.", + "Lift the black and white microphone and hand it to the other side easily.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Lift the handheld microphone and pass it across.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Take the handheld microphone and move it to the other hand.", + "Lift the metal head microphone and hand it to someone else.", + "Take the metal head microphone and pass it to another hand", + "Use the right arm to hold the microphone with black tip and white body, then give it to the left arm." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode22.json b/ori_data/handover_mic/franka_clean/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..5cea48d322c2ba332338aa85b5eb508264dc49ec --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone for recording sound and pass it across.", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Hold the small audio microphone and deliver it to another side.", + "Grab the round head microphone and transfer it to another hand", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the dark blue microphone, then pass it across without delay.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Grasp the dark blue microphone and switch it to another hand.", + "Take the microphone covered with foam tip and move it to another hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Hold the round head microphone with one hand and transfer it", + "Hold the microphone for recording sound and pass it to the other hand.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Grab the microphone with round foam head using the right arm and pass it over to the left arm.", + "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.", + "Secure the gray and dark blue microphone using one arm and transfer it.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grab the small audio microphone and give it to the opposite arm.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Take the dark blue microphone, shift it, and release it to the other side.", + "Lift the microphone with round foam head and pass it across.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the microphone for recording sound and move it to the other hand.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Grab the dark blue microphone and transfer it to another hand", + "Lift the microphone for recording sound using the right arm and pass it to the left arm.", + "Pick up the audio microphone with soft covering and move it to the opposite side", + "Secure the microphone with dark blue padding from the table and transfer it.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Lift the small audio microphone, then pass it across without delay.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Pick the medium microphone with two-tone color and transfer it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Seize the microphone for recording sound and offer it to the other arm", + "Take the microphone with dark blue padding and pass it to another hand", + "Lift the round head microphone and hand it to someone else.", + "Hold the microphone for recording sound firmly and pass it to the other arm.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Lift the microphone covered with foam tip and hand it over to the other arm.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Take the microphone covered with foam tip and move it to another hand.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Hold the small audio microphone and pass it to the other hand.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Secure the dark blue microphone using one arm and transfer it.", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Grab the microphone covered with foam tip and give it to the opposite arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Grip the dark blue microphone and pass it to the other side", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Lift the microphone with round foam head and pass it across.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Hold the microphone with smooth gray stem with the right arm and give it to the left arm.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grab the small audio microphone and transfer it to another hand", + "Lift the small audio microphone using the right arm and pass it to the left arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side" + ], + "unseen": [ + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode23.json b/ori_data/handover_mic/franka_clean/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..365f90c20f618afe732262080ae7b630d1997dfc --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Lift the audio microphone with soft covering, then pass it across without delay.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Pick up the round head microphone and hand it to the other side.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Secure the medium microphone with two-tone color using one arm and transfer it.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Grab the microphone with dark blue padding and transfer it to another hand", + "Take the medium microphone with two-tone color, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Grasp the dark blue microphone and switch it to another hand.", + "Seize the microphone with round foam head and offer it to the other arm", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Pick the round head microphone from the surface and switch hands.", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone for recording sound and hand it over to the other arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Use the right arm to grab the dark blue microphone and transfer it to the left arm.", + "Take the round head microphone and pass it to another hand", + "Lift the microphone with round foam head and pass it across.", + "Secure the dark blue microphone from the table and transfer it.", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Grasp the gray stem microphone with foam top, transfer it, then let go of it smoothly.", + "Lift the round head microphone and deliver it to the other side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Take the microphone covered with foam tip and move it to another hand.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Grab the microphone with smooth gray stem using the right arm and pass it over to the left arm.", + "Hold the microphone covered with foam tip with one hand and transfer it", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Pick up the medium microphone with two-tone color and hand it to the other side.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Reach for the gray and dark blue microphone and move it to the other hand.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Seize the microphone with dark blue padding and offer it to the other arm", + "Take the microphone for recording sound using the right arm and transfer it to the left arm.", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Use one arm to pick up the gray stem microphone with foam top and give it to the other.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Hold the dark blue microphone and deliver it to another side.", + "Pick up the microphone with round foam head, pass it to the other arm, and release.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Use the right arm to grab the medium microphone with two-tone color and transfer it to the left arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the medium microphone with two-tone color and pass it across.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Lift the microphone covered with foam tip and hand it to someone else.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grasp the microphone with round foam head and pass it across.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the round head microphone and shift it to the other arm.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grab the microphone with dark blue padding using the right arm and pass it over to the left arm.", + "Hold the microphone with dark blue padding with one hand and transfer it", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Use one hand to grab the audio microphone with soft covering and pass it." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle from the table and pass it across." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode24.json b/ori_data/handover_mic/franka_clean/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..a41a9b830b884facb46b0b5d363fa85d8d027e0d --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld microphone and deliver it to another side.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Take the white microphone handle black accents and pass it to another hand", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Pick up the metal head microphone and move it to the opposite side", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Lift the mesh-patterned microphone head and pass it across.", + "Pick the compact size microphone and transfer it to the other arm.", + "Take the handheld microphone using the right arm and transfer it to the left arm.", + "Grab the compact size microphone and transfer it to another hand", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grip the handheld microphone and pass it to the other side", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Pick up the microphone with cylindrical handle and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Hold the black and white microphone and deliver it to another side.", + "Reach for the handheld microphone and move it to the other hand.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Secure the compact size microphone from the table and transfer it.", + "Take the handheld microphone and pass it to another hand", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Lift the black and white microphone, then pass it across without delay.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Take the black and white microphone and move it to another hand.", + "Pick the microphone with textured metal head from the surface and switch hands.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Pick up the compact size microphone and move it to the opposite side", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Take the microphone with black tip and white body using the right arm and transfer it to the left arm.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Use the right arm to hold the microphone with rounded mesh head, then give it to the left arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the microphone with cylindrical handle and hand it to someone else.", + "Use one hand to grab the metal head microphone and pass it.", + "Hold the metal head microphone and shift it to the other arm.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Secure the black and white microphone using one arm and transfer it.", + "Seize the mesh-patterned microphone head and offer it to the other arm", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Use the right arm to grab the microphone with textured metal head and transfer it to the left arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the microphone with textured metal head and deliver it to another side.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Secure the compact size microphone from the table and transfer it.", + "Take the handheld microphone and pass it to another hand", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Hold the white microphone handle black accents with the right arm and give it to the left arm.", + "Lift the handheld microphone, then pass it across without delay." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode25.json b/ori_data/handover_mic/franka_clean/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..a9127ef10ea7250ea2af39eb4f190aa3e5c8eace --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Lift the metal head microphone and pass it across.", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Grasp the mesh-patterned microphone head and pass it across.", + "Take the microphone for voice recording and pass it to another hand", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Grip the compact size microphone and pass it to the other side", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Lift the black and white microphone and hand it over to the other side.", + "Grab the smooth plastic microphone handle and transfer it to another hand", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the black and white microphone with one hand and transfer it", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Take the microphone with black tip and white body and move it to another hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Secure the metal head microphone from the table and transfer it.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Grasp the compact size microphone and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle and deliver it to another side.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Use one hand to grab the handheld microphone and pass it.", + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Lift the smooth plastic microphone handle and pass it across.", + "Take the black and white microphone and move it to the other hand.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Lift the black and white microphone and deliver it to the other side.", + "Lift the black and white microphone, then pass it across without delay.", + "Hold the metal head microphone and shift it to the other arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Grab the metal head microphone and give it to the opposite arm.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Seize the handheld microphone and offer it to the other arm", + "Grasp the smooth plastic microphone handle and pass it across.", + "Take the handheld microphone and pass it to another hand", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Grip the microphone with rounded mesh head and pass it to the other side", + "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Take the white microphone handle black accents and move it to another hand.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Secure the metal head microphone from the table and transfer it.", + "Lift the metal head microphone and hand it to someone else.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Pick the metal head microphone from the surface and switch hands.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Take the black and white microphone, pass it, and release it to complete the task.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Grab the black and white microphone using the left arm and pass it over to the right arm.", + "Lift the smooth plastic microphone handle and pass it across.", + "Take the microphone with textured metal head and move it to the other hand.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Pick the white microphone handle black accents and transfer it to the other arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Grab the metal head microphone and give it to the opposite arm." + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode26.json b/ori_data/handover_mic/franka_clean/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..f7ca1e420e7e03455efd1cf6933f6e3a55efc1b6 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the black and white microphone, then give it to the other arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Take the black and white microphone and pass it to another hand", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Take the microphone for voice recording and move it to another hand.", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Hold the handheld microphone and pass it to the other hand.", + "Lift the handheld microphone and hand it over to the other arm.", + "Pick the compact size microphone and transfer it to the other arm.", + "Hold the handheld microphone and shift it to the other arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Grab the black and white microphone and transfer it to another hand", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Secure the handheld microphone using one arm and transfer it.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the microphone for voice recording and deliver it to another side.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Grip the metal head microphone and pass it to the other side", + "Take the microphone with textured metal head using the left arm and transfer it to the right arm.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Grasp the handheld microphone, then give it to the other arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Hold the white microphone handle black accents with the left arm and give it to the right arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Take the white microphone handle black accents and move it to another hand.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Lift the metal head microphone and hand it over to the other arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the microphone for voice recording and shift it to the other arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Seize the metal head microphone and offer it to the other arm", + "Grab the metal head microphone and transfer it to another hand", + "Take the handheld microphone, shift it, and release it to the other side.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Secure the white microphone handle black accents using one arm and transfer it.", + "Lift the handheld microphone and deliver it to the other side.", + "Reach for the handheld microphone and move it to the other hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Grasp the white microphone handle black accents and pass it across.", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the compact size microphone and switch it to another hand.", + "Hold the metal head microphone with one hand and transfer it", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Secure the metal head microphone from the table and transfer it.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grip the microphone with textured metal head and pass it to the other side", + "Take the compact size microphone using the left arm and transfer it to the right arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Lift the metal head microphone, then pass it across without delay.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Take the metal head microphone and move it to the other hand.", + "Hold the black and white microphone with the left arm and give it to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Lift the microphone with black tip and white body and hand it to someone else." + ], + "unseen": [ + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode27.json b/ori_data/handover_mic/franka_clean/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..81fcdfe4171789866e11ee2b2403989a027644a2 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the white and teal sound microphone from the surface and switch hands.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Grasp the sound microphone with teal body, then give it to the other arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Use one hand to grab the textured white microphone head and pass it.", + "Lift the white and teal sound microphone and hand it over to the other side.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Grab the textured white microphone head using the left arm and pass it over to the right arm.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Hold the microphone with slider switch with one hand and transfer it", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Use the left arm to grab the compact teal and white microphone and transfer it to the right arm.", + "Pick up the plastic teal microphone with slider and hand it to the other side.", + "Take the handheld teal microphone and move it to another hand.", + "Lift the white and teal sound microphone and hand it over to the other arm.", + "Grip the rounded white tip microphone and pass it to the other side", + "Take the rounded white tip microphone and pass it to another hand", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Hold the handheld teal microphone and deliver it to another side.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Pick the teal microphone and transfer it to the other arm.", + "Lift the white and teal sound microphone and pass it across.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Reach for the teal microphone and move it to the other hand.", + "Seize the handheld teal microphone and offer it to the other arm", + "Grab the textured white microphone head and give it to the opposite arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Pick the teal microphone from the surface and switch hands.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Lift the rounded white tip microphone and hand it over to the other arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Take the microphone with white rounded head and pass it to another hand", + "Grasp the microphone with white rounded head and pass it across.", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Lift the handheld teal microphone and pass it across.", + "Grasp the rounded white tip microphone and shift it to the opposite hand.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Grasp the microphone with white rounded head and switch it to another hand.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Seize the microphone with slider switch and offer it to the other arm", + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Lift the handheld teal microphone and hand it to someone else.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Lift the plastic teal microphone with slider, then pass it across without delay.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the compact teal and white microphone and hand it over to the other side." + ], + "unseen": [ + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode28.json b/ori_data/handover_mic/franka_clean/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..d62240422c44efcf9d9c1c0f18f9ab344a795d17 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small audio microphone and hand it to someone else.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Secure the microphone with round foam head from the table and transfer it.", + "Hold the dark blue microphone and deliver it to another side.", + "Reach for the dark blue microphone and move it to the other hand.", + "Lift the round head microphone using the right arm and pass it to the left arm.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the dark blue microphone and pass it across.", + "Grasp the microphone with dark blue padding and pass it across.", + "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.", + "Hold the microphone with smooth gray stem and shift it to the other arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Use one hand to grab the microphone covered with foam tip and pass it.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Grasp the microphone with smooth gray stem and switch it to another hand.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the microphone with smooth gray stem, pass it, and release it to complete the task.", + "Lift the round head microphone, then pass it across without delay.", + "Grab the microphone for recording sound using the right arm and pass it over to the left arm.", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the microphone with smooth gray stem and give it to the opposite arm.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Grasp the round head microphone, then give it to the other arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Use the right arm to hold the gray stem microphone with foam top, then give it to the left arm.", + "Take the gray stem microphone with foam top and pass it to another hand", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Pick up the small audio microphone and transfer it to the opposite side.", + "Take the microphone covered with foam tip, shift it, and release it to the other side.", + "Grasp the small audio microphone and shift it to the opposite hand.", + "Take the round head microphone and move it to the other hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick the microphone for recording sound from the surface and switch hands.", + "Lift the round head microphone and hand it to someone else.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Pick up the small audio microphone and move it to the opposite side", + "Secure the microphone with round foam head from the table and transfer it.", + "Hold the small audio microphone and deliver it to another side.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Lift the microphone with smooth gray stem and pass it across.", + "Grasp the microphone with smooth gray stem and pass it across.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Hold the small audio microphone firmly and pass it to the other arm.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Secure the microphone for recording sound using one arm and transfer it.", + "Pick up the audio microphone with soft covering, pass it to the other arm, and release.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Hold the microphone with smooth gray stem securely and shift it to another arm.", + "Take the round head microphone, pass it, and release it to complete the task.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Grab the round head microphone using the right arm and pass it over to the left arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grab the round head microphone and give it to the opposite arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grip the microphone with smooth gray stem and pass it to the other side", + "Use one arm to pick up the dark blue microphone and give it to the other.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Grasp the microphone with smooth gray stem, then give it to the other arm.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Take the small audio microphone and pass it to another hand", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Grasp the round head microphone and shift it to the opposite hand.", + "Take the microphone for recording sound and move it to the other hand.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the microphone for recording sound and hand it to someone else.", + "Seize the audio microphone with soft covering and offer it to the other arm", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Secure the medium microphone with two-tone color from the table and transfer it.", + "Hold the microphone with round foam head and deliver it to another side.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Pick the round head microphone and transfer it to the other arm.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the audio microphone with soft covering and pass it across." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode29.json b/ori_data/handover_mic/franka_clean/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..88ea4ffa508fc2a659871ee84341ce7015aed8c2 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the handheld teal microphone from the table and transfer it.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grab the microphone with slider switch using the left arm and pass it over to the right arm.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Take the sound microphone with teal body and move it to the other hand.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Grasp the textured white microphone head and pass it across.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Hold the microphone with slider switch and pass it to the other hand.", + "Pick up the textured white microphone head and move it to the opposite side", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Take the white and teal sound microphone and pass it to another hand", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grab the teal microphone and transfer it to another hand", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Lift the rounded white tip microphone and hand it over to the other side.", + "Grab the textured white microphone head and smoothly give it to the other arm.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Secure the sound microphone with teal body using one arm and transfer it.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Secure the microphone with slider switch from the table and transfer it.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Grab the white bottom microphone with textured tip using the left arm and pass it over to the right arm.", + "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Take the plastic teal microphone with slider using the left arm and transfer it to the right arm.", + "Reach for the textured white microphone head and move it to the other hand.", + "Take the handheld teal microphone, pass it, and release it to complete the task.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Take the compact teal and white microphone and move it to the other hand.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Lift the plastic teal microphone with slider and hand it to the other side easily.", + "Grip the microphone with white rounded head and pass it to the other side", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Take the teal microphone and move it to another hand.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Lift the textured white microphone head and pass it across.", + "Seize the handheld teal microphone and offer it to the other arm", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Take the teal microphone, shift it, and release it to the other side.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Grab the handheld teal microphone and transfer it to another hand", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Lift the teal microphone and hand it to someone else.", + "Lift the textured white microphone head and hand it over to the other side.", + "Grab the white and teal sound microphone and smoothly give it to the other arm.", + "Lift the rounded white tip microphone using the left arm and pass it to the right arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.", + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Take the microphone with white rounded head using the left arm and transfer it to the right arm.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task." + ], + "unseen": [ + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode3.json b/ori_data/handover_mic/franka_clean/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..d5535bb93b950b342a6019fb0eab10bdc1cb9e57 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one hand to grab the rounded white tip microphone and pass it.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Grasp the white and teal sound microphone and pass it across.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Grasp the teal microphone, transfer it, then let go of it smoothly.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Grab the teal microphone using the right arm and pass it over to the left arm.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Grip the microphone with slider switch and pass it to the other side", + "Take the teal microphone and pass it to another hand", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Take the compact teal and white microphone and move it to another hand.", + "Lift the handheld teal microphone using the right arm and pass it to the left arm.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Hold the rounded white tip microphone and deliver it to another side.", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Use the right arm to hold the long microphone with smooth teal grip, then give it to the left arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Seize the textured white microphone head and offer it to the other arm", + "Hold the sound microphone with teal body with one hand and transfer it", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Lift the textured white microphone head and hand it over to the other arm.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Pick up the teal microphone and hand it to the other side.", + "Pick up the textured white microphone head, pass it to the other arm, and release.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Take the handheld teal microphone and move it to the other hand.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the microphone with white rounded head and transfer it to the left arm.", + "Grab the white and teal sound microphone and transfer it to another hand", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the textured white microphone head and hand it to someone else.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.", + "Pick the sound microphone with teal body from the surface and switch hands.", + "Grip the microphone with white rounded head and pass it to the other side", + "Take the microphone with white rounded head and pass it to another hand", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Take the handheld teal microphone and move it to another hand.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Lift the long microphone with smooth teal grip and hand it to the other side easily.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Lift the white and teal sound microphone and pass it across.", + "Take the microphone with white rounded head, pass it, and release it to complete the task.", + "Hold the long microphone with smooth teal grip and pass it to the other hand.", + "Hold the textured white microphone head and deliver it to another side.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Use the right arm to hold the microphone with slider switch, then give it to the left arm.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Seize the textured white microphone head and offer it to the other arm", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grasp the textured white microphone head and switch it to another hand.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Grasp the textured white microphone head, then give it to the other arm.", + "Hold the compact teal and white microphone with the right arm and give it to the left arm.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Reach for the teal microphone and move it to the other hand.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Secure the white bottom microphone with textured tip using one arm and transfer it.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Take the rounded white tip microphone using the right arm and transfer it to the left arm.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grab the microphone with white rounded head using the right arm and pass it over to the left arm.", + "Pick the teal microphone from the surface and switch hands.", + "Grip the handheld teal microphone and pass it to the other side" + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode30.json b/ori_data/handover_mic/franka_clean/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..f38aab819d7e4786453ef30783f54398529b1759 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the black and white microphone and pass it across.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the handheld microphone and pass it across.", + "Pick the metal head microphone from the surface and switch hands.", + "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.", + "Take the smooth plastic microphone handle and pass it to another hand", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Lift the microphone with textured metal head and hand it to someone else.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Lift the metal head microphone and hand it over to the other side.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Hold the black and white microphone and deliver it to another side.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Lift the handheld microphone and hand it to the other side easily.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Hold the metal head microphone and shift it to the other arm.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Pick up the compact size microphone and hand it to the other side.", + "Grip the microphone with cylindrical handle and pass it to the other side", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Grasp the microphone with cylindrical handle, then give it to the other arm.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Grab the black and white microphone and transfer it to another hand", + "Pick the metal head microphone and transfer it to the other arm.", + "Take the microphone with textured metal head and move it to another hand.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Hold the black and white microphone securely and shift it to another arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Hold the metal head microphone with the right arm and give it to the left arm.", + "Take the white microphone handle black accents and pass it to another hand", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Secure the compact size microphone using one arm and transfer it.", + "Take the microphone with rounded mesh head, pass it, and release it to complete the task.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Use the right arm to hold the microphone for voice recording, then give it to the left arm.", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Lift the handheld microphone and hand it to the other side easily.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Use the right arm to grab the compact size microphone and transfer it to the left arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Pick up the metal head microphone and move it to the opposite side", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the compact size microphone with one hand and transfer it", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Grip the microphone with textured metal head and pass it to the other side", + "Secure the microphone with cylindrical handle from the table and transfer it.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Lift the mesh-patterned microphone head, then pass it across without delay.", + "Use one arm to pick up the microphone with textured metal head and give it to the other.", + "Hold the metal head microphone and pass it to the other hand.", + "Lift the black and white microphone using the right arm and pass it to the left arm.", + "Grasp the black and white microphone and pass it across.", + "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Hold the metal head microphone securely and shift it to another arm.", + "Lift the metal head microphone and pass it across.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm.", + "Take the black and white microphone and pass it to another hand", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm." + ], + "unseen": [ + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode31.json b/ori_data/handover_mic/franka_clean/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..bd927cbe1d4f808d88177619e194d2f1e9c93f93 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the compact size microphone and pass it to the other hand.", + "Lift the handheld microphone using the right arm and pass it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Hold the microphone for voice recording with the right arm and give it to the left arm.", + "Take the microphone with textured metal head and pass it to another hand", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Lift the metal head microphone and pass it across.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Secure the microphone with rounded mesh head using one arm and transfer it.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Use the right arm to hold the black and white microphone, then give it to the left arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Grab the handheld microphone and transfer it to another hand", + "Lift the compact size microphone and hand it over to the other side.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Reach for the handheld microphone and move it to the other hand.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Hold the black and white microphone with one hand and transfer it", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Hold the compact size microphone and shift it to the other arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Grip the microphone for voice recording and pass it to the other side", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Hold the black and white microphone and pass it to the other hand.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Take the metal head microphone, shift it, and release it to the other side.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Grasp the microphone with cylindrical handle and pass it across.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Grasp the compact size microphone and switch it to another hand.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Lift the compact size microphone and pass it across.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Secure the metal head microphone using one arm and transfer it.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Use the right arm to grab the smooth plastic microphone handle and transfer it to the left arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Pick up the compact size microphone, pass it to the other arm, and release.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Use one hand to grab the black and white microphone and pass it.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Secure the black and white microphone from the table and transfer it.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Grab the microphone with textured metal head and smoothly give it to the other arm.", + "Take the handheld microphone and move it to another hand.", + "Grab the smooth plastic microphone handle using the right arm and pass it over to the left arm.", + "Hold the compact size microphone and deliver it to another side.", + "Hold the black and white microphone and shift it to the other arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Take the microphone for voice recording, pass it, and release it to complete the task.", + "Grip the black and white microphone and pass it to the other side", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Take the handheld microphone, shift it, and release it to the other side.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Grab the handheld microphone and give it to the opposite arm.", + "Grasp the microphone for voice recording and pass it across.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Hold the mesh-patterned microphone head with the right arm and give it to the left arm." + ], + "unseen": [ + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode32.json b/ori_data/handover_mic/franka_clean/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..46294730797d71da03765c1fd2bc34db3f0d0d86 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone covered with foam tip and deliver it to another side.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick the round head microphone and transfer it to the other arm.", + "Grab the small audio microphone and transfer it to another hand", + "Pick up the microphone with round foam head and transfer it to the opposite side.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Pick up the dark blue microphone, pass it to the other arm, and release.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grip the round head microphone and pass it to the other side", + "Pick up the gray stem microphone with foam top and move it to the opposite side", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Grasp the microphone for recording sound, then give it to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Lift the small audio microphone and hand it to someone else.", + "Grab the dark blue microphone and give it to the opposite arm.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Take the round head microphone and move it to the other hand.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Take the microphone with round foam head and move it to another hand.", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the round head microphone with one hand and transfer it", + "Take the medium microphone with two-tone color, pass it, and release it to complete the task.", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Grasp the microphone for recording sound and pass it across.", + "Reach for the microphone covered with foam tip and move it to the other hand.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Lift the gray and dark blue microphone and pass it across.", + "Hold the microphone covered with foam tip firmly and pass it to the other arm.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Seize the gray and dark blue microphone and offer it to the other arm", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Lift the audio microphone with soft covering and hand it over to the other arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Grab the audio microphone with soft covering and smoothly give it to the other arm.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Hold the medium microphone with two-tone color with the left arm and give it to the right arm.", + "Secure the microphone with round foam head from the table and transfer it.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Use one hand to grab the microphone for recording sound and pass it.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grip the microphone for recording sound and pass it to the other side", + "Pick up the microphone covered with foam tip and move it to the opposite side", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Take the gray stem microphone with foam top, shift it, and release it to the other side.", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Grasp the round head microphone, then give it to the other arm.", + "Hold the round head microphone and pass it to the other hand.", + "Lift the gray stem microphone with foam top and hand it to someone else.", + "Grab the small audio microphone and give it to the opposite arm.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grasp the small audio microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with round foam head with one hand and transfer it", + "Take the audio microphone with soft covering, pass it, and release it to complete the task.", + "Take the microphone with dark blue padding using the left arm and transfer it to the right arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Reach for the dark blue microphone and move it to the other hand.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Lift the audio microphone with soft covering and pass it across.", + "Hold the dark blue microphone firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Grasp the microphone with round foam head and shift it to the opposite hand.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Lift the gray stem microphone with foam top and hand it over to the other arm.", + "Take the microphone covered with foam tip and pass it to another hand", + "Lift the microphone covered with foam tip using the left arm and pass it to the right arm.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Hold the dark blue microphone and deliver it to another side.", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Lift the small audio microphone and hand it to the other side easily.", + "Pick the microphone for recording sound and transfer it to the other arm.", + "Grab the microphone covered with foam tip and transfer it to another hand", + "Pick up the audio microphone with soft covering and transfer it to the opposite side.", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Secure the round head microphone from the table and transfer it.", + "Use one arm to pick up the microphone with round foam head and give it to the other." + ], + "unseen": [ + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it across." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode33.json b/ori_data/handover_mic/franka_clean/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..3d9a26c84155c7d6784c5492d61f3e94efe41f5d --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Take the microphone with round foam head and move it to the other hand.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Lift the round head microphone and hand it to the other side easily.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the small audio microphone with one hand and transfer it", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Grab the audio microphone with soft covering and give it to the opposite arm.", + "Grab the gray and dark blue microphone and smoothly give it to the other arm.", + "Grab the microphone for recording sound and transfer it to another hand", + "Pick the audio microphone with soft covering and transfer it to the other arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the dark blue microphone using the right arm and pass it to the left arm.", + "Grasp the small audio microphone and pass it across.", + "Seize the small audio microphone and offer it to the other arm", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Pick up the microphone for recording sound and move it to the opposite side", + "Use the right arm to hold the microphone for recording sound, then give it to the left arm.", + "Hold the gray stem microphone with foam top and deliver it to another side.", + "Pick the medium microphone with two-tone color from the surface and switch hands.", + "Lift the microphone with round foam head and hand it over to the other arm.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Hold the gray and dark blue microphone with the right arm and give it to the left arm.", + "Take the gray and dark blue microphone using the right arm and transfer it to the left arm.", + "Take the small audio microphone and move it to another hand.", + "Hold the microphone covered with foam tip and shift it to the other arm.", + "Lift the small audio microphone and hand it to someone else.", + "Grasp the audio microphone with soft covering and switch it to another hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use the right arm to grab the microphone with smooth gray stem and transfer it to the left arm.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Take the round head microphone and pass it to another hand", + "Grab the dark blue microphone using the right arm and pass it over to the left arm.", + "Take the audio microphone with soft covering, shift it, and release it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Secure the round head microphone using one arm and transfer it.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering and deliver it to the other side.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Pick up the dark blue microphone and hand it to the other side.", + "Pick up the round head microphone and transfer it to the opposite side.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the dark blue microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Secure the microphone for recording sound from the table and transfer it.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Lift the dark blue microphone, then pass it across without delay.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grab the microphone with round foam head and give it to the opposite arm.", + "Grab the dark blue microphone and smoothly give it to the other arm.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Pick the dark blue microphone and transfer it to the other arm.", + "Use one arm to pick up the medium microphone with two-tone color and give it to the other.", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Grasp the audio microphone with soft covering and pass it across.", + "Seize the microphone covered with foam tip and offer it to the other arm", + "Hold the microphone with dark blue padding securely and shift it to another arm.", + "Pick up the small audio microphone and move it to the opposite side", + "Use the right arm to hold the round head microphone, then give it to the left arm.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Pick the microphone with dark blue padding from the surface and switch hands.", + "Lift the small audio microphone and hand it over to the other arm.", + "Reach for the medium microphone with two-tone color and move it to the other hand.", + "Hold the gray and dark blue microphone firmly and pass it to the other arm.", + "Hold the microphone for recording sound with the right arm and give it to the left arm.", + "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.", + "Take the microphone for recording sound and move it to another hand.", + "Hold the microphone with dark blue padding and shift it to the other arm.", + "Lift the microphone with round foam head and hand it to someone else.", + "Grasp the medium microphone with two-tone color and switch it to another hand.", + "Use one hand to grab the gray and dark blue microphone and pass it.", + "Use the right arm to grab the audio microphone with soft covering and transfer it to the left arm.", + "Grasp the microphone covered with foam tip and shift it to the opposite hand.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top, then give it to the other arm.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Pick up the microphone covered with foam tip, pass it to the other arm, and release.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Lift the small audio microphone and pass it across.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Pick up the microphone with smooth gray stem and hand it to the other side.", + "Pick up the gray stem microphone with foam top and transfer it to the opposite side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Lift the microphone for recording sound and hand it over to the other side.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Secure the microphone for recording sound from the table and transfer it.", + "Hold the dark blue microphone with one hand and transfer it", + "Lift the microphone with round foam head, then pass it across without delay.", + "Take the microphone for recording sound, pass it, and release it to complete the task." + ], + "unseen": [ + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Take hold of the handheld microphone and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the compact microphone with two parts and hand it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Pick up the compact microphone with two parts and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode34.json b/ori_data/handover_mic/franka_clean/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..16867e22313016d4a57ee9ccb592391eb53b71b0 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the microphone with smooth gray stem and pass it across.", + "Hold the small audio microphone and shift it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the medium microphone with two-tone color and hand it over to the other side.", + "Lift the round head microphone and hand it to someone else.", + "Grip the microphone with round foam head and pass it to the other side", + "Grasp the dark blue microphone, then give it to the other arm.", + "Take the gray and dark blue microphone and move it to the other hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the medium microphone with two-tone color with one hand and transfer it", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick up the gray stem microphone with foam top and hand it to the other side.", + "Grasp the microphone for recording sound, transfer it, then let go of it smoothly.", + "Pick up the small audio microphone and move it to the opposite side", + "Grab the dark blue microphone and give it to the opposite arm.", + "Grab the audio microphone with soft covering using the left arm and pass it over to the right arm.", + "Hold the microphone with smooth gray stem firmly and pass it to the other arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Lift the small audio microphone and pass it across.", + "Hold the microphone covered with foam tip with the left arm and give it to the right arm.", + "Secure the round head microphone from the table and transfer it.", + "Lift the medium microphone with two-tone color, then pass it across without delay.", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick the round head microphone and transfer it to the other arm.", + "Lift the round head microphone and hand it to the other side easily.", + "Reach for the microphone with dark blue padding and move it to the other hand.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the audio microphone with soft covering and move it to another hand.", + "Hold the microphone covered with foam tip and deliver it to another side.", + "Pick up the microphone with dark blue padding, pass it to the other arm, and release.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Hold the gray stem microphone with foam top and pass it to the other hand.", + "Take the microphone with round foam head and pass it to another hand", + "Grab the gray and dark blue microphone and transfer it to another hand", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.", + "Secure the microphone with round foam head using one arm and transfer it.", + "Lift the gray stem microphone with foam top using the left arm and pass it to the right arm.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Grasp the microphone with round foam head and pass it across.", + "Hold the small audio microphone and shift it to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Lift the gray and dark blue microphone and hand it to someone else.", + "Grip the medium microphone with two-tone color and pass it to the other side", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the microphone with dark blue padding and move it to the other hand.", + "Hold the small audio microphone securely and shift it to another arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Pick the microphone with smooth gray stem from the surface and switch hands.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Hold the gray and dark blue microphone with one hand and transfer it", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Grab the small audio microphone and smoothly give it to the other arm.", + "Pick up the small audio microphone and hand it to the other side.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Pick up the gray and dark blue microphone and move it to the opposite side", + "Grab the round head microphone and give it to the opposite arm.", + "Grab the dark blue microphone using the left arm and pass it over to the right arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the microphone for recording sound and pass it across.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Secure the small audio microphone from the table and transfer it.", + "Lift the microphone covered with foam tip, then pass it across without delay.", + "Use one hand to grab the dark blue microphone and pass it.", + "Pick the dark blue microphone and transfer it to the other arm.", + "Lift the microphone with dark blue padding and hand it to the other side easily.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Use the left arm to grab the microphone with dark blue padding and transfer it to the right arm.", + "Grasp the microphone with round foam head and switch it to another hand.", + "Take the microphone with dark blue padding and move it to another hand.", + "Hold the microphone with dark blue padding and deliver it to another side.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Use one arm to pick up the microphone with round foam head and give it to the other.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Take the audio microphone with soft covering and pass it to another hand", + "Grab the round head microphone and transfer it to another hand", + "Take the medium microphone with two-tone color using the left arm and transfer it to the right arm.", + "Use the left arm to hold the gray stem microphone with foam top, then give it to the right arm.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Lift the medium microphone with two-tone color and deliver it to the other side.", + "Grasp the microphone with dark blue padding and pass it across.", + "Hold the gray stem microphone with foam top and shift it to the other arm.", + "Seize the microphone with round foam head and offer it to the other arm", + "Lift the microphone with smooth gray stem and hand it over to the other side.", + "Lift the small audio microphone and hand it to someone else.", + "Grip the microphone with round foam head and pass it to the other side", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the microphone with round foam head, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode35.json b/ori_data/handover_mic/franka_clean/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a21c4921e4c98d3ce1a49129fbc418b73dc138 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the microphone for voice recording and move it to the other hand.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Grip the microphone for voice recording and pass it to the other side", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the compact size microphone and hand it over to the other arm.", + "Grab the microphone with black tip and white body and smoothly give it to the other arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Take the microphone with black tip and white body and pass it to another hand", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Take the black and white microphone and move it to another hand.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Hold the microphone with textured metal head firmly and pass it to the other arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Grasp the microphone with textured metal head and switch it to another hand.", + "Grab the compact size microphone and transfer it to another hand", + "Secure the metal head microphone from the table and transfer it.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Grasp the handheld microphone, transfer it, then let go of it smoothly.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Hold the microphone with cylindrical handle and deliver it to another side.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Take the microphone with textured metal head and move it to the other hand.", + "Lift the compact size microphone and hand it to someone else.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Lift the microphone with rounded mesh head and pass it across.", + "Lift the microphone with cylindrical handle and hand it to the other side easily.", + "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.", + "Pick up the white microphone handle black accents and transfer it to the opposite side.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Pick the black and white microphone from the surface and switch hands.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Reach for the metal head microphone and move it to the other hand.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grip the white microphone handle black accents and pass it to the other side", + "Seize the metal head microphone and offer it to the other arm", + "Lift the black and white microphone and hand it over to the other arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Lift the black and white microphone and hand it over to the other side.", + "Take the handheld microphone and pass it to another hand", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Take the handheld microphone and move it to another hand.", + "Hold the compact size microphone and shift it to the other arm.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Secure the black and white microphone from the table and transfer it.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Grab the handheld microphone using the left arm and pass it over to the right arm.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Hold the metal head microphone and deliver it to another side.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Grasp the handheld microphone, then give it to the other arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Grasp the microphone with rounded mesh head and pass it across.", + "Lift the black and white microphone and deliver it to the other side.", + "Grab the handheld microphone and give it to the opposite arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Lift the microphone with cylindrical handle and pass it across.", + "Lift the metal head microphone and hand it to the other side easily.", + "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Pick the compact size microphone from the surface and switch hands.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Reach for the black and white microphone and move it to the other hand.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Seize the metal head microphone and offer it to the other arm", + "Lift the black and white microphone and hand it over to the other arm.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Lift the microphone for voice recording and hand it over to the other side.", + "Take the black and white microphone and pass it to another hand", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Secure the smooth plastic microphone handle using one arm and transfer it." + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode36.json b/ori_data/handover_mic/franka_clean/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..481295a25633b4316b29323558f1bcb59d15c2e2 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the microphone with slider switch and deliver it to the other side.", + "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Take the textured white microphone head and move it to the other hand.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Lift the handheld teal microphone and pass it across.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Lift the teal microphone and hand it to the other side easily.", + "Grasp the sound microphone with teal body and pass it across.", + "Grip the sound microphone with teal body and pass it to the other side", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick up the microphone with white rounded head and hand it to the other side.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Hold the teal microphone and shift it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Secure the teal microphone from the table and transfer it.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Pick up the compact teal and white microphone and move it to the opposite side", + "Grab the sound microphone with teal body and smoothly give it to the other arm.", + "Lift the sound microphone with teal body using the right arm and pass it to the left arm.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.", + "Use the right arm to hold the white and teal sound microphone, then give it to the left arm.", + "Grab the textured white microphone head and give it to the opposite arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Hold the handheld teal microphone with the right arm and give it to the left arm.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Take the handheld teal microphone and move it to another hand.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Take the compact teal and white microphone using the right arm and transfer it to the left arm.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Take the compact teal and white microphone and move it to the other hand.", + "Grasp the long microphone with smooth teal grip, then give it to the other arm.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Lift the teal microphone and pass it across.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Lift the teal microphone and hand it over to the other side.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Grasp the teal microphone and pass it across.", + "Grip the microphone with white rounded head and pass it to the other side", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Hold the textured white microphone head and deliver it to another side.", + "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.", + "Hold the teal microphone and pass it to the other hand.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Lift the compact teal and white microphone and hand it to someone else.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Lift the textured white microphone head, then pass it across without delay.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Lift the microphone with white rounded head and hand it over to the other arm.", + "Seize the teal microphone and offer it to the other arm", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Secure the white bottom microphone with textured tip from the table and transfer it.", + "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Grab the teal microphone and smoothly give it to the other arm.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Grab the long microphone with smooth teal grip and give it to the opposite arm.", + "Take the handheld teal microphone and pass it to another hand", + "Hold the microphone with slider switch with the right arm and give it to the left arm.", + "Hold the microphone with white rounded head with one hand and transfer it", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Grab the microphone with slider switch and transfer it to another hand", + "Take the teal microphone and move it to another hand.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Take the sound microphone with teal body using the right arm and transfer it to the left arm.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Take the handheld teal microphone and move it to the other hand.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Lift the microphone with slider switch and pass it across." + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode37.json b/ori_data/handover_mic/franka_clean/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..3d35808359a0068b33e0fa8285616dd433aaeb05 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the compact teal and white microphone and give it to the opposite arm.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Secure the compact teal and white microphone from the table and transfer it.", + "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.", + "Grasp the rounded white tip microphone and pass it across.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Lift the microphone with slider switch, then pass it across without delay.", + "Pick the textured white microphone head and transfer it to the other arm.", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Hold the handheld teal microphone and deliver it to another side.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Lift the teal microphone and hand it over to the other arm.", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Take the textured white microphone head and move it to another hand.", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Hold the white bottom microphone with textured tip securely and shift it to another arm.", + "Lift the microphone with white rounded head and deliver it to the other side.", + "Grab the rounded white tip microphone and transfer it to another hand", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Grasp the textured white microphone head and switch it to another hand.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Hold the compact teal and white microphone and pass it to the other hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Pick the long microphone with smooth teal grip from the surface and switch hands.", + "Use the left arm to hold the teal microphone, then give it to the right arm.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Lift the rounded white tip microphone and pass it across.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.", + "Pick up the rounded white tip microphone and hand it to the other side.", + "Lift the plastic teal microphone with slider using the left arm and pass it to the right arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Lift the microphone with white rounded head and hand it over to the other side.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Secure the teal microphone using one arm and transfer it.", + "Take the rounded white tip microphone and move it to the other hand.", + "Pick up the white and teal sound microphone and move it to the opposite side", + "Lift the teal microphone and hand it to the other side easily.", + "Grab the teal microphone and give it to the opposite arm.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Hold the microphone with slider switch with the left arm and give it to the right arm.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Grab the sound microphone with teal body using the left arm and pass it over to the right arm.", + "Seize the rounded white tip microphone and offer it to the other arm", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Take the microphone with white rounded head and move it to another hand.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Grab the teal microphone and transfer it to another hand", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Grasp the long microphone with smooth teal grip and switch it to another hand.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Take the handheld teal microphone and pass it to another hand", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Use the left arm to hold the rounded white tip microphone, then give it to the right arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Lift the teal microphone and pass it across.", + "Reach for the microphone with white rounded head and move it to the other hand.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Lift the microphone with slider switch using the left arm and pass it to the right arm.", + "Take the plastic teal microphone with slider, shift it, and release it to the other side.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Lift the sound microphone with teal body and hand it to the other side easily.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Hold the handheld teal microphone with the left arm and give it to the right arm.", + "Secure the handheld teal microphone from the table and transfer it.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the textured white microphone head, then pass it across without delay.", + "Pick the rounded white tip microphone and transfer it to the other arm.", + "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm." + ], + "unseen": [ + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode38.json b/ori_data/handover_mic/franka_clean/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..6ae1163e1bd8b8635fb2181a7d9a077691c2cc32 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grab the microphone with rounded mesh head and transfer it to another hand", + "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Lift the handheld microphone and hand it to the other side easily.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Lift the microphone with textured metal head using the left arm and pass it to the right arm.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grasp the white microphone handle black accents, then give it to the other arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Pick the handheld microphone from the surface and switch hands.", + "Secure the handheld microphone from the table and transfer it.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Lift the metal head microphone, then pass it across without delay.", + "Lift the smooth plastic microphone handle and hand it to someone else.", + "Hold the mesh-patterned microphone head with one hand and transfer it", + "Take the microphone with cylindrical handle and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Hold the handheld microphone and pass it to the other hand.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grip the mesh-patterned microphone head and pass it to the other side", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the microphone for voice recording and pass it across.", + "Lift the microphone with black tip and white body and pass it across.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Secure the compact size microphone using one arm and transfer it.", + "Use one arm to pick up the microphone with black tip and white body and give it to the other.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Take the white microphone handle black accents and move it to another hand.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Seize the black and white microphone and offer it to the other arm", + "Lift the metal head microphone using the left arm and pass it to the right arm.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Grasp the mesh-patterned microphone head, then give it to the other arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Pick the metal head microphone from the surface and switch hands.", + "Secure the black and white microphone from the table and transfer it.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Lift the compact size microphone and hand it to someone else.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Lift the microphone with cylindrical handle and hand it over to the other side.", + "Use one hand to grab the black and white microphone and pass it.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Hold the metal head microphone and pass it to the other hand.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Take the microphone with black tip and white body and pass it to another hand", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Pick up the microphone for voice recording and hand it to the other side.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Grasp the black and white microphone and pass it across.", + "Lift the compact size microphone and pass it across.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Use the left arm to hold the compact size microphone, then give it to the right arm.", + "Take the smooth plastic microphone handle, pass it, and release it to complete the task.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the handheld microphone and hand it over to the other arm.", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Secure the metal head microphone using one arm and transfer it.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Grab the microphone for voice recording and transfer it to another hand", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Lift the metal head microphone and hand it to the other side easily.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Lift the handheld microphone and deliver it to the other side.", + "Seize the white microphone handle black accents and offer it to the other arm", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Take the handheld microphone, shift it, and release it to the other side." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Take hold of the black and white plastic microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Take hold of the microphone used for audio input and hand it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode39.json b/ori_data/handover_mic/franka_clean/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..5945d504391f978639b6147be6e0ef6c7f8331fe --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the round head microphone and transfer it to another hand", + "Take the small audio microphone and move it to another hand.", + "Hold the small audio microphone with the left arm and give it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the gray and dark blue microphone and pass it across.", + "Lift the gray and dark blue microphone and hand it to the other side easily.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Grab the round head microphone and give it to the opposite arm.", + "Use one hand to grab the microphone with dark blue padding and pass it.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Hold the medium microphone with two-tone color securely and shift it to another arm.", + "Use the left arm to grab the gray stem microphone with foam top and transfer it to the right arm.", + "Hold the audio microphone with soft covering firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Take the microphone for recording sound, pass it, and release it to complete the task.", + "Pick up the dark blue microphone and hand it to the other side.", + "Grasp the microphone with smooth gray stem and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and deliver it to the other side.", + "Grab the microphone covered with foam tip and smoothly give it to the other arm.", + "Pick the round head microphone from the surface and switch hands.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the dark blue microphone using the left arm and pass it to the right arm.", + "Lift the microphone covered with foam tip and pass it across.", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Seize the gray stem microphone with foam top and offer it to the other arm", + "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Pick up the medium microphone with two-tone color and move it to the opposite side", + "Lift the gray and dark blue microphone and hand it over to the other side.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Grasp the microphone covered with foam tip and switch it to another hand.", + "Pick up the gray stem microphone with foam top, pass it to the other arm, and release.", + "Hold the microphone for recording sound with one hand and transfer it", + "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Grip the microphone with dark blue padding and pass it to the other side", + "Grasp the round head microphone, transfer it, then let go of it smoothly.", + "Hold the gray and dark blue microphone and deliver it to another side.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Use the left arm to hold the gray and dark blue microphone, then give it to the right arm.", + "Use one arm to pick up the round head microphone and give it to the other.", + "Pick up the microphone for recording sound and transfer it to the opposite side.", + "Lift the microphone for recording sound, then pass it across without delay.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the small audio microphone and move it to another hand.", + "Hold the round head microphone with the left arm and give it to the right arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Grasp the microphone for recording sound and pass it across.", + "Lift the small audio microphone and hand it to the other side easily.", + "Secure the microphone with round foam head from the table and transfer it.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Use one hand to grab the dark blue microphone and pass it.", + "Take the round head microphone and move it to the other hand.", + "Lift the microphone with smooth gray stem and hand it over to the other arm.", + "Hold the audio microphone with soft covering securely and shift it to another arm.", + "Use the left arm to grab the gray and dark blue microphone and transfer it to the right arm.", + "Hold the gray stem microphone with foam top firmly and pass it to the other arm.", + "Take the microphone with smooth gray stem and pass it to another hand", + "Take the small audio microphone, pass it, and release it to complete the task.", + "Pick up the gray and dark blue microphone and hand it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the microphone with dark blue padding and deliver it to the other side.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Pick the microphone covered with foam tip from the surface and switch hands.", + "Hold the microphone for recording sound and pass it to the other hand.", + "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the small audio microphone and shift it to the other arm.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Take the small audio microphone using the left arm and transfer it to the right arm.", + "Pick the gray and dark blue microphone and transfer it to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Lift the microphone with dark blue padding and hand it over to the other side.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Hold the microphone with round foam head with one hand and transfer it", + "Grab the microphone covered with foam tip using the left arm and pass it over to the right arm.", + "Reach for the round head microphone and move it to the other hand.", + "Grasp the round head microphone, then give it to the other arm.", + "Grip the microphone for recording sound and pass it to the other side", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Hold the medium microphone with two-tone color and deliver it to another side.", + "Lift the microphone with smooth gray stem and hand it to someone else.", + "Use the left arm to hold the round head microphone, then give it to the right arm.", + "Use one arm to pick up the small audio microphone and give it to the other.", + "Pick up the microphone covered with foam tip and transfer it to the opposite side.", + "Lift the gray stem microphone with foam top, then pass it across without delay.", + "Grab the medium microphone with two-tone color and transfer it to another hand", + "Take the small audio microphone and move it to another hand.", + "Hold the gray stem microphone with foam top with the left arm and give it to the right arm.", + "Take the microphone with smooth gray stem, shift it, and release it to the other side.", + "Grasp the small audio microphone and pass it across.", + "Lift the gray stem microphone with foam top and hand it to the other side easily.", + "Secure the gray and dark blue microphone from the table and transfer it.", + "Grab the medium microphone with two-tone color and give it to the opposite arm.", + "Use one hand to grab the small audio microphone and pass it.", + "Take the gray stem microphone with foam top and move it to the other hand." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the handheld microphone from the table and pass it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Pick up the compact microphone with two parts and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode4.json b/ori_data/handover_mic/franka_clean/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..86170bbe888ee06d119fa3d41b556a23f03aac9a --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Hold the audio microphone with soft covering with the right arm and give it to the left arm.", + "Grasp the dark blue microphone and shift it to the opposite hand.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Lift the microphone with dark blue padding using the right arm and pass it to the left arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the microphone with smooth gray stem and deliver it to another side.", + "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.", + "Secure the microphone covered with foam tip using one arm and transfer it.", + "Reach for the audio microphone with soft covering and move it to the other hand.", + "Secure the gray stem microphone with foam top from the table and transfer it.", + "Hold the gray and dark blue microphone and pass it to the other hand.", + "Take the microphone with smooth gray stem and move it to the other hand.", + "Lift the microphone for recording sound and deliver it to the other side.", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Lift the microphone with round foam head and hand it over to the other side.", + "Hold the gray stem microphone with foam top securely and shift it to another arm.", + "Take the microphone for recording sound, shift it, and release it to the other side.", + "Use one hand to grab the microphone with round foam head and pass it.", + "Lift the medium microphone with two-tone color and hand it to someone else.", + "Use the right arm to grab the microphone for recording sound and transfer it to the left arm.", + "Use the right arm to hold the microphone with round foam head, then give it to the left arm.", + "Lift the microphone with dark blue padding and hand it over to the other arm.", + "Grab the microphone with dark blue padding and give it to the opposite arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the microphone for recording sound and hand it to the other side easily.", + "Grab the round head microphone and smoothly give it to the other arm.", + "Pick up the dark blue microphone and move it to the opposite side", + "Hold the medium microphone with two-tone color and shift it to the other arm.", + "Pick up the dark blue microphone and transfer it to the opposite side.", + "Seize the medium microphone with two-tone color and offer it to the other arm", + "Hold the medium microphone with two-tone color firmly and pass it to the other arm.", + "Grasp the gray stem microphone with foam top and switch it to another hand.", + "Pick the microphone with round foam head from the surface and switch hands.", + "Grab the gray stem microphone with foam top and transfer it to another hand", + "Pick up the audio microphone with soft covering and hand it to the other side.", + "Grasp the dark blue microphone, then give it to the other arm.", + "Take the dark blue microphone using the right arm and transfer it to the left arm.", + "Take the microphone with dark blue padding, pass it, and release it to complete the task.", + "Take the small audio microphone and move it to another hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the microphone with smooth gray stem, then pass it across without delay.", + "Take the microphone for recording sound and pass it to another hand", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Grasp the round head microphone and pass it across.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the small audio microphone with the right arm and give it to the left arm.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Grip the audio microphone with soft covering and pass it to the other side", + "Lift the microphone with smooth gray stem using the right arm and pass it to the left arm.", + "Lift the microphone with smooth gray stem and pass it across.", + "Hold the audio microphone with soft covering and deliver it to another side.", + "Grasp the dark blue microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Secure the round head microphone from the table and transfer it.", + "Hold the audio microphone with soft covering and pass it to the other hand.", + "Take the medium microphone with two-tone color and move it to the other hand.", + "Lift the microphone with round foam head and deliver it to the other side.", + "Pick up the round head microphone, pass it to the other arm, and release.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Hold the microphone for recording sound securely and shift it to another arm.", + "Take the microphone with dark blue padding, shift it, and release it to the other side.", + "Use one hand to grab the audio microphone with soft covering and pass it.", + "Lift the microphone with dark blue padding and hand it to someone else.", + "Use the right arm to grab the small audio microphone and transfer it to the left arm.", + "Use the right arm to hold the microphone with smooth gray stem, then give it to the left arm.", + "Lift the round head microphone and hand it over to the other arm.", + "Grab the microphone for recording sound and give it to the opposite arm.", + "Use one arm to pick up the audio microphone with soft covering and give it to the other.", + "Lift the medium microphone with two-tone color and hand it to the other side easily.", + "Grab the gray stem microphone with foam top and smoothly give it to the other arm.", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Pick up the microphone with dark blue padding and transfer it to the opposite side.", + "Seize the microphone with smooth gray stem and offer it to the other arm", + "Hold the microphone with round foam head firmly and pass it to the other arm.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Pick the round head microphone from the surface and switch hands.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Pick up the microphone covered with foam tip and hand it to the other side.", + "Grasp the microphone with round foam head, then give it to the other arm.", + "Take the gray stem microphone with foam top using the right arm and transfer it to the left arm.", + "Take the gray stem microphone with foam top, pass it, and release it to complete the task.", + "Take the microphone with round foam head and move it to another hand.", + "Grab the gray and dark blue microphone using the right arm and pass it over to the left arm.", + "Lift the gray and dark blue microphone, then pass it across without delay.", + "Take the audio microphone with soft covering and pass it to another hand", + "Hold the audio microphone with soft covering with one hand and transfer it", + "Grasp the medium microphone with two-tone color and pass it across.", + "Pick the microphone with round foam head and transfer it to the other arm.", + "Hold the microphone with round foam head with the right arm and give it to the left arm.", + "Grasp the microphone with dark blue padding and shift it to the opposite hand.", + "Grip the round head microphone and pass it to the other side", + "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.", + "Lift the gray stem microphone with foam top and pass it across.", + "Hold the small audio microphone and deliver it to another side.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Secure the small audio microphone using one arm and transfer it.", + "Reach for the microphone with round foam head and move it to the other hand." + ], + "unseen": [ + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the handheld microphone and hand it over.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Grab the handheld microphone and pass it to the other arm.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Pick up the handheld microphone and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode40.json b/ori_data/handover_mic/franka_clean/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..fba61076f8918bdb6de404ab8280ef4e4a0fe6dc --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium microphone with two-tone color and transfer it to the opposite side.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Use one hand to grab the gray stem microphone with foam top and pass it.", + "Take the microphone for recording sound and pass it to another hand", + "Pick up the small audio microphone, pass it to the other arm, and release.", + "Secure the dark blue microphone using one arm and transfer it.", + "Take the microphone with round foam head, shift it, and release it to the other side.", + "Grasp the medium microphone with two-tone color and shift it to the opposite hand.", + "Lift the microphone with smooth gray stem and pass it across.", + "Lift the small audio microphone and hand it to someone else.", + "Take the microphone covered with foam tip, pass it, and release it to complete the task.", + "Grasp the medium microphone with two-tone color, transfer it, then let go of it smoothly.", + "Grab the microphone with smooth gray stem and transfer it to another hand", + "Hold the microphone for recording sound and shift it to the other arm.", + "Hold the microphone with round foam head and pass it to the other hand.", + "Grasp the microphone for recording sound and switch it to another hand.", + "Take the microphone with round foam head using the left arm and transfer it to the right arm.", + "Secure the round head microphone from the table and transfer it.", + "Hold the microphone with smooth gray stem with the left arm and give it to the right arm.", + "Grasp the gray stem microphone with foam top and pass it across.", + "Pick up the microphone for recording sound and hand it to the other side.", + "Take the audio microphone with soft covering and move it to the other hand.", + "Grasp the gray and dark blue microphone, then give it to the other arm.", + "Lift the microphone with round foam head, then pass it across without delay.", + "Grab the small audio microphone and give it to the opposite arm.", + "Lift the microphone for recording sound using the left arm and pass it to the right arm.", + "Lift the small audio microphone and deliver it to the other side.", + "Hold the microphone for recording sound and deliver it to another side.", + "Hold the microphone with round foam head securely and shift it to another arm.", + "Pick the microphone covered with foam tip and transfer it to the other arm.", + "Seize the small audio microphone and offer it to the other arm", + "Take the gray and dark blue microphone and move it to another hand.", + "Grab the microphone for recording sound and smoothly give it to the other arm.", + "Reach for the gray stem microphone with foam top and move it to the other hand.", + "Use the left arm to hold the medium microphone with two-tone color, then give it to the right arm.", + "Pick the audio microphone with soft covering from the surface and switch hands.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the round head microphone firmly and pass it to the other arm.", + "Lift the medium microphone with two-tone color and hand it over to the other arm.", + "Grip the gray and dark blue microphone and pass it to the other side", + "Pick up the microphone with dark blue padding and move it to the opposite side", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Use one arm to pick up the microphone covered with foam tip and give it to the other.", + "Lift the microphone covered with foam tip and hand it to the other side easily.", + "Pick up the microphone with smooth gray stem and transfer it to the opposite side.", + "Use the left arm to grab the dark blue microphone and transfer it to the right arm.", + "Use one hand to grab the round head microphone and pass it.", + "Take the microphone covered with foam tip and pass it to another hand", + "Pick up the medium microphone with two-tone color, pass it to the other arm, and release.", + "Secure the microphone with dark blue padding using one arm and transfer it.", + "Take the gray and dark blue microphone, shift it, and release it to the other side.", + "Grasp the gray stem microphone with foam top and shift it to the opposite hand.", + "Lift the gray and dark blue microphone and pass it across.", + "Lift the audio microphone with soft covering and hand it to someone else.", + "Take the dark blue microphone, pass it, and release it to complete the task.", + "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.", + "Grab the audio microphone with soft covering and transfer it to another hand", + "Hold the gray and dark blue microphone and shift it to the other arm.", + "Hold the medium microphone with two-tone color and pass it to the other hand.", + "Grasp the gray and dark blue microphone and switch it to another hand.", + "Take the gray stem microphone with foam top using the left arm and transfer it to the right arm.", + "Secure the audio microphone with soft covering from the table and transfer it.", + "Hold the gray and dark blue microphone with the left arm and give it to the right arm.", + "Grasp the microphone with round foam head and pass it across.", + "Pick up the round head microphone and hand it to the other side.", + "Take the gray stem microphone with foam top and move it to the other hand.", + "Grasp the microphone covered with foam tip, then give it to the other arm.", + "Lift the microphone with dark blue padding, then pass it across without delay.", + "Grab the gray stem microphone with foam top and give it to the opposite arm.", + "Lift the round head microphone using the left arm and pass it to the right arm.", + "Lift the gray stem microphone with foam top and deliver it to the other side.", + "Hold the microphone with round foam head and deliver it to another side.", + "Hold the small audio microphone securely and shift it to another arm.", + "Pick the microphone with dark blue padding and transfer it to the other arm.", + "Seize the dark blue microphone and offer it to the other arm", + "Take the gray stem microphone with foam top and move it to another hand.", + "Grab the microphone with smooth gray stem and smoothly give it to the other arm.", + "Reach for the microphone with smooth gray stem and move it to the other hand.", + "Use the left arm to hold the dark blue microphone, then give it to the right arm.", + "Pick the gray stem microphone with foam top from the surface and switch hands.", + "Lift the audio microphone with soft covering and hand it over to the other side.", + "Grab the microphone with dark blue padding using the left arm and pass it over to the right arm.", + "Hold the microphone with dark blue padding firmly and pass it to the other arm.", + "Lift the dark blue microphone and hand it over to the other arm.", + "Grip the gray stem microphone with foam top and pass it to the other side", + "Pick up the round head microphone and move it to the opposite side", + "Hold the gray stem microphone with foam top with one hand and transfer it", + "Use one arm to pick up the round head microphone and give it to the other.", + "Lift the audio microphone with soft covering and hand it to the other side easily.", + "Pick up the gray and dark blue microphone and transfer it to the opposite side.", + "Use the left arm to grab the small audio microphone and transfer it to the right arm.", + "Use one hand to grab the round head microphone and pass it.", + "Take the medium microphone with two-tone color and pass it to another hand", + "Pick up the microphone for recording sound, pass it to the other arm, and release.", + "Secure the microphone with smooth gray stem using one arm and transfer it.", + "Take the round head microphone, shift it, and release it to the other side.", + "Grasp the audio microphone with soft covering and shift it to the opposite hand.", + "Lift the round head microphone and pass it across.", + "Lift the microphone with round foam head and hand it to someone else." + ], + "unseen": [ + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the microphone with cylindrical handle from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the handheld microphone and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the handheld microphone from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and transfer it to the other hand.", + "Grab the handheld microphone from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the microphone with cylindrical handle and pass it to the other arm.", + "Use one arm to hold the handheld microphone and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the compact microphone with two parts from the table and pass it over.", + "Take hold of the microphone with cylindrical handle and hand it over.", + "Pick up the microphone with cylindrical handle and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the handheld microphone and pass it to the other arm.", + "Use one arm to hold the compact microphone with two parts and hand it over.", + "Pick up the compact microphone with two parts and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the compact microphone with two parts and hand it over.", + "Pick up the handheld microphone and hand it over", + "Grab the compact microphone with two parts from the table and pass it across.", + "Grab the compact microphone with two parts and pass it to the other arm.", + "Use one arm to hold the microphone with cylindrical handle and hand it over.", + "Pick up the handheld microphone and transfer it to the other hand.", + "Grab the microphone with cylindrical handle from the table and pass it over.", + "Take hold of the handheld microphone and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode41.json b/ori_data/handover_mic/franka_clean/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..631a818218444587532b10438e948c46cbad8e69 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grip the compact teal and white microphone and pass it to the other side", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Grasp the plastic teal microphone with slider and pass it across.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Grasp the handheld teal microphone and switch it to another hand.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Seize the handheld teal microphone and offer it to the other arm", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Take the plastic teal microphone with slider and move it to another hand.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Hold the compact teal and white microphone securely and shift it to another arm.", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Hold the compact teal and white microphone with the left arm and give it to the right arm.", + "Pick up the teal microphone and move it to the opposite side", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Take the microphone with slider switch, pass it, and release it to complete the task.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Take the microphone with slider switch and move it to the other hand.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Grasp the white and teal sound microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with white rounded head and deliver it to another side.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Lift the long microphone with smooth teal grip and pass it across.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Hold the microphone with white rounded head and pass it to the other hand.", + "Use one arm to pick up the teal microphone and give it to the other.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Lift the sound microphone with teal body and hand it over to the other arm.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grip the white bottom microphone with textured tip and pass it to the other side", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grasp the textured white microphone head and pass it across.", + "Take the white bottom microphone with textured tip, shift it, and release it to the other side.", + "Hold the handheld teal microphone with one hand and transfer it", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Take the microphone with white rounded head and pass it to another hand", + "Grasp the rounded white tip microphone and switch it to another hand.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Seize the teal microphone and offer it to the other arm", + "Use the left arm to grab the white and teal sound microphone and transfer it to the right arm.", + "Take the teal microphone and move it to another hand.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Hold the plastic teal microphone with slider securely and shift it to another arm.", + "Grab the handheld teal microphone using the left arm and pass it over to the right arm.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Pick up the sound microphone with teal body and move it to the opposite side", + "Pick the rounded white tip microphone from the surface and switch hands.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Grab the microphone with slider switch and transfer it to another hand", + "Lift the microphone with slider switch and hand it to the other side easily.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Reach for the compact teal and white microphone and move it to the other hand.", + "Take the handheld teal microphone and move it to the other hand.", + "Secure the handheld teal microphone from the table and transfer it.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Pick up the teal microphone and transfer it to the opposite side.", + "Lift the microphone with slider switch and pass it across.", + "Hold the microphone with slider switch firmly and pass it to the other arm.", + "Lift the compact teal and white microphone using the left arm and pass it to the right arm.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Grab the rounded white tip microphone and smoothly give it to the other arm.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Use one arm to pick up the plastic teal microphone with slider and give it to the other.", + "Grasp the microphone with white rounded head and shift it to the opposite hand.", + "Lift the handheld teal microphone and hand it over to the other arm.", + "Grasp the handheld teal microphone, then give it to the other arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Take the long microphone with smooth teal grip and pass it to another hand" + ], + "unseen": [ + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode42.json b/ori_data/handover_mic/franka_clean/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..e0b8b9731b319781413cc7685d5857ff6fb695a8 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Pick the handheld microphone and transfer it to the other arm.", + "Grasp the handheld microphone and switch it to another hand.", + "Pick up the microphone for voice recording, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Hold the microphone for voice recording and pass it to the other hand.", + "Secure the metal head microphone using one arm and transfer it.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.", + "Grab the metal head microphone and give it to the opposite arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Lift the metal head microphone and pass it across.", + "Take the smooth plastic microphone handle and move it to another hand.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Hold the microphone for voice recording and deliver it to another side.", + "Seize the microphone with rounded mesh head and offer it to the other arm", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the smooth plastic microphone handle and hand it over to the other arm.", + "Grab the microphone with cylindrical handle and transfer it to another hand", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Reach for the white microphone handle black accents and move it to the other hand.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Take the black and white microphone, shift it, and release it to the other side.", + "Lift the microphone for voice recording and deliver it to the other side.", + "Use one hand to grab the white microphone handle black accents and pass it.", + "Lift the compact size microphone and hand it over to the other side.", + "Hold the black and white microphone with one hand and transfer it", + "Take the microphone with textured metal head and move it to the other hand.", + "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.", + "Lift the handheld microphone and hand it to someone else.", + "Secure the mesh-patterned microphone head from the table and transfer it.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Take the black and white microphone and pass it to another hand", + "Lift the metal head microphone, then pass it across without delay.", + "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.", + "Pick the handheld microphone from the surface and switch hands.", + "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.", + "Hold the microphone with rounded mesh head firmly and pass it to the other arm.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Pick the metal head microphone and transfer it to the other arm.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Lift the smooth plastic microphone handle using the left arm and pass it to the right arm.", + "Pick up the microphone with textured metal head and hand it to the other side.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Hold the microphone with black tip and white body and pass it to the other hand.", + "Secure the compact size microphone using one arm and transfer it.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Grab the metal head microphone using the left arm and pass it over to the right arm.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Hold the microphone with cylindrical handle and shift it to the other arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Lift the microphone with cylindrical handle and pass it across.", + "Take the microphone with rounded mesh head and move it to another hand.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Hold the mesh-patterned microphone head and deliver it to another side.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Grab the microphone with cylindrical handle and smoothly give it to the other arm.", + "Reach for the metal head microphone and move it to the other hand.", + "Grasp the microphone with textured metal head and pass it across.", + "Take the compact size microphone, shift it, and release it to the other side.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Use one hand to grab the microphone for voice recording and pass it.", + "Lift the handheld microphone and hand it over to the other side.", + "Hold the compact size microphone with one hand and transfer it", + "Take the compact size microphone and move it to the other hand.", + "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Secure the microphone for voice recording from the table and transfer it.", + "Grip the black and white microphone and pass it to the other side", + "Take the microphone with black tip and white body and pass it to another hand", + "Lift the microphone with textured metal head, then pass it across without delay.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Lift the compact size microphone and hand it to the other side easily.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Grasp the smooth plastic microphone handle and switch it to another hand.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode43.json b/ori_data/handover_mic/franka_clean/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..ef74f3b39525da65bc1900a702778255cd2464d7 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Hold the rounded white tip microphone and shift it to the other arm.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Grasp the compact teal and white microphone and pass it across.", + "Grasp the teal microphone and switch it to another hand.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Secure the long microphone with smooth teal grip from the table and transfer it.", + "Reach for the plastic teal microphone with slider and move it to the other hand.", + "Use the right arm to grab the microphone with slider switch and transfer it to the left arm.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Take the white bottom microphone with textured tip and move it to the other hand.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.", + "Grasp the white and teal sound microphone, then give it to the other arm.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Lift the teal microphone and pass it across.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Hold the teal microphone and deliver it to another side.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Grab the teal microphone and transfer it to another hand", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Pick the textured white microphone head from the surface and switch hands.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Use one hand to grab the plastic teal microphone with slider and pass it.", + "Grasp the plastic teal microphone with slider and shift it to the opposite hand.", + "Hold the teal microphone with one hand and transfer it", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Lift the handheld teal microphone and hand it to someone else.", + "Lift the compact teal and white microphone using the right arm and pass it to the left arm.", + "Pick up the sound microphone with teal body, pass it to the other arm, and release.", + "Pick the handheld teal microphone and transfer it to the other arm.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Secure the textured white microphone head using one arm and transfer it.", + "Take the white bottom microphone with textured tip and pass it to another hand", + "Lift the microphone with slider switch and hand it over to the other side.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Use one arm to pick up the handheld teal microphone and give it to the other.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Grasp the compact teal and white microphone and switch it to another hand.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Hold the teal microphone and pass it to the other hand.", + "Grip the handheld teal microphone and pass it to the other side", + "Secure the microphone with white rounded head from the table and transfer it.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Take the sound microphone with teal body and move it to the other hand.", + "Use the right arm to hold the handheld teal microphone, then give it to the left arm.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Lift the white bottom microphone with textured tip and pass it across.", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Lift the compact teal and white microphone and deliver it to the other side.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Take the long microphone with smooth teal grip using the right arm and transfer it to the left arm.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Pick the handheld teal microphone from the surface and switch hands.", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grasp the microphone with slider switch and shift it to the opposite hand.", + "Hold the textured white microphone head with one hand and transfer it", + "Pick up the teal microphone and hand it to the other side.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Pick the white bottom microphone with textured tip and transfer it to the other arm.", + "Pick up the plastic teal microphone with slider and move it to the opposite side", + "Secure the microphone with white rounded head using one arm and transfer it.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Lift the long microphone with smooth teal grip and hand it over to the other side.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Use one arm to pick up the microphone with white rounded head and give it to the other.", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Grasp the textured white microphone head and switch it to another hand.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Grip the long microphone with smooth teal grip and pass it to the other side", + "Secure the rounded white tip microphone from the table and transfer it." + ], + "unseen": [ + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Take hold of the teal microphone with white bottom and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode44.json b/ori_data/handover_mic/franka_clean/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..9069e5351fdc618b1d74731879a5c88126c672ff --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick up the microphone with textured metal head and transfer it to the opposite side.", + "Take the microphone with textured metal head and move it to the other hand.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Pick up the metal head microphone and move it to the opposite side", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Hold the microphone for voice recording with one hand and transfer it", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Grasp the metal head microphone, then give it to the other arm.", + "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.", + "Secure the compact size microphone using one arm and transfer it.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Take the metal head microphone and pass it to another hand", + "Reach for the mesh-patterned microphone head and move it to the other hand.", + "Hold the microphone for voice recording and deliver it to another side.", + "Use one arm to pick up the microphone for voice recording and give it to the other.", + "Take the microphone with rounded mesh head, shift it, and release it to the other side.", + "Lift the microphone for voice recording using the left arm and pass it to the right arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Lift the black and white microphone and pass it across.", + "Use the left arm to grab the microphone with black tip and white body and transfer it to the right arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Hold the black and white microphone firmly and pass it to the other arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Take the microphone for voice recording and move it to another hand.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Grasp the microphone for voice recording and pass it across.", + "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Hold the smooth plastic microphone handle securely and shift it to another arm.", + "Grip the smooth plastic microphone handle and pass it to the other side", + "Secure the microphone with textured metal head from the table and transfer it.", + "Grasp the microphone for voice recording and switch it to another hand.", + "Grab the black and white microphone and transfer it to another hand", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Seize the metal head microphone and offer it to the other arm", + "Pick the microphone for voice recording from the surface and switch hands.", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Take the handheld microphone and move it to the other hand.", + "Hold the handheld microphone with the left arm and give it to the right arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Grab the smooth plastic microphone handle and give it to the opposite arm.", + "Pick up the metal head microphone and hand it to the other side.", + "Hold the microphone with rounded mesh head with one hand and transfer it", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Take the white microphone handle black accents and pass it to another hand", + "Reach for the compact size microphone and move it to the other hand.", + "Hold the white microphone handle black accents and deliver it to another side.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Lift the smooth plastic microphone handle and pass it across.", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Hold the black and white microphone and pass it to the other hand.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Take the black and white microphone and move it to another hand.", + "Lift the microphone with black tip and white body, then pass it across without delay.", + "Lift the microphone for voice recording and hand it to the other side easily.", + "Grasp the microphone with textured metal head and pass it across.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Pick the metal head microphone and transfer it to the other arm.", + "Hold the microphone with black tip and white body securely and shift it to another arm.", + "Grip the microphone for voice recording and pass it to the other side", + "Secure the microphone with textured metal head from the table and transfer it.", + "Grasp the microphone with rounded mesh head and switch it to another hand.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Seize the handheld microphone and offer it to the other arm", + "Pick the microphone with black tip and white body from the surface and switch hands.", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Pick up the microphone for voice recording and transfer it to the opposite side.", + "Take the compact size microphone and move it to the other hand.", + "Hold the microphone for voice recording with the left arm and give it to the right arm.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Hold the compact size microphone with one hand and transfer it" + ], + "unseen": [ + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode45.json b/ori_data/handover_mic/franka_clean/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..82b03bdd414e44c713509e0caf09cb357a4901a0 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the textured white microphone head and hand it to the other side easily.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Grasp the textured white microphone head and pass it across.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Use one hand to grab the compact teal and white microphone and pass it.", + "Take the microphone with slider switch using the left arm and transfer it to the right arm.", + "Take the handheld teal microphone and move it to another hand.", + "Secure the textured white microphone head from the table and transfer it.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Use the left arm to grab the rounded white tip microphone and transfer it to the right arm.", + "Grab the white and teal sound microphone using the left arm and pass it over to the right arm.", + "Take the plastic teal microphone with slider, pass it, and release it to complete the task.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Hold the long microphone with smooth teal grip and shift it to the other arm.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Grasp the microphone with white rounded head, then give it to the other arm.", + "Take the teal microphone, shift it, and release it to the other side.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Take the teal microphone and move it to the other hand.", + "Hold the handheld teal microphone and deliver it to another side.", + "Secure the compact teal and white microphone using one arm and transfer it.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Grip the microphone with white rounded head and pass it to the other side", + "Grasp the teal microphone and switch it to another hand.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Lift the handheld teal microphone and deliver it to the other side.", + "Reach for the long microphone with smooth teal grip and move it to the other hand.", + "Take the teal microphone and pass it to another hand", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Hold the textured white microphone head securely and shift it to another arm.", + "Hold the teal microphone and pass it to the other hand.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Lift the handheld teal microphone and pass it across.", + "Lift the teal microphone using the left arm and pass it to the right arm.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Hold the teal microphone with one hand and transfer it", + "Grasp the white and teal sound microphone and pass it across.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the rounded white tip microphone using the left arm and transfer it to the right arm.", + "Take the handheld teal microphone and move it to another hand.", + "Secure the microphone with slider switch from the table and transfer it.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Use the left arm to grab the plastic teal microphone with slider and transfer it to the right arm.", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Grasp the sound microphone with teal body and shift it to the opposite hand.", + "Pick the teal microphone and transfer it to the other arm.", + "Lift the textured white microphone head and hand it to someone else.", + "Seize the microphone with slider switch and offer it to the other arm", + "Lift the compact teal and white microphone and hand it over to the other arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Pick the microphone with slider switch from the surface and switch hands.", + "Grab the white and teal sound microphone and give it to the opposite arm.", + "Lift the microphone with white rounded head, then pass it across without delay.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Hold the plastic teal microphone with slider firmly and pass it to the other arm.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Hold the white bottom microphone with textured tip and deliver it to another side.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Pick up the microphone with slider switch and hand it to the other side.", + "Hold the white and teal sound microphone with the left arm and give it to the right arm.", + "Pick up the microphone with slider switch and move it to the opposite side", + "Lift the teal microphone and hand it over to the other side.", + "Grip the rounded white tip microphone and pass it to the other side", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Use the left arm to hold the sound microphone with teal body, then give it to the right arm.", + "Grasp the textured white microphone head, transfer it, then let go of it smoothly.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Reach for the white and teal sound microphone and move it to the other hand.", + "Take the white and teal sound microphone and pass it to another hand", + "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.", + "Hold the microphone with slider switch securely and shift it to another arm.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Lift the compact teal and white microphone and pass it across.", + "Lift the textured white microphone head using the left arm and pass it to the right arm.", + "Lift the teal microphone and hand it to the other side easily.", + "Hold the white bottom microphone with textured tip with one hand and transfer it", + "Grasp the long microphone with smooth teal grip and pass it across.", + "Pick up the white and teal sound microphone and transfer it to the opposite side.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Take the teal microphone using the left arm and transfer it to the right arm.", + "Take the white and teal sound microphone and move it to another hand.", + "Secure the rounded white tip microphone from the table and transfer it.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm." + ], + "unseen": [ + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the teal microphone with white bottom and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the long teal microphone with white grooves and hand it over", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Pick up the switchable microphone with teal body and hand it over", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Pick up the switchable microphone with teal body and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode46.json b/ori_data/handover_mic/franka_clean/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..bb1f4ac67c0ab7be8352277b7302a8998c7841f9 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the microphone with textured metal head and pass it to the other hand.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Grasp the black and white microphone and shift it to the opposite hand.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Hold the handheld microphone and deliver it to another side.", + "Hold the microphone with black tip and white body with the left arm and give it to the right arm.", + "Use one arm to pick up the white microphone handle black accents and give it to the other.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Secure the metal head microphone using one arm and transfer it.", + "Grasp the black and white microphone, then give it to the other arm.", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Lift the smooth plastic microphone handle and hand it to the other side easily.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Pick up the white microphone handle black accents and move it to the opposite side", + "Pick the microphone with rounded mesh head from the surface and switch hands.", + "Grab the compact size microphone and transfer it to another hand", + "Hold the handheld microphone and shift it to the other arm.", + "Grab the metal head microphone and smoothly give it to the other arm.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Grasp the microphone for voice recording and pass it across.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Lift the metal head microphone and pass it across.", + "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Reach for the microphone with black tip and white body and move it to the other hand.", + "Grasp the microphone with black tip and white body, transfer it, then let go of it smoothly.", + "Pick up the smooth plastic microphone handle and transfer it to the opposite side.", + "Hold the smooth plastic microphone handle firmly and pass it to the other arm.", + "Grip the black and white microphone and pass it to the other side", + "Take the microphone with textured metal head and move it to another hand.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Lift the microphone for voice recording and hand it over to the other arm.", + "Hold the microphone with cylindrical handle securely and shift it to another arm.", + "Lift the white microphone handle black accents, then pass it across without delay.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Take the black and white microphone and move it to the other hand.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Take the microphone for voice recording and pass it to another hand", + "Secure the black and white microphone from the table and transfer it.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Hold the microphone with textured metal head and pass it to the other hand.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Hold the handheld microphone and deliver it to another side.", + "Hold the compact size microphone with the left arm and give it to the right arm.", + "Use one arm to pick up the smooth plastic microphone handle and give it to the other.", + "Pick up the handheld microphone and hand it to the other side.", + "Secure the compact size microphone using one arm and transfer it.", + "Grasp the handheld microphone, then give it to the other arm.", + "Take the white microphone handle black accents using the left arm and transfer it to the right arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Pick up the black and white microphone and move it to the opposite side", + "Pick the metal head microphone from the surface and switch hands.", + "Grab the black and white microphone and transfer it to another hand", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Grab the microphone for voice recording and smoothly give it to the other arm.", + "Seize the compact size microphone and offer it to the other arm", + "Take the handheld microphone, pass it, and release it to complete the task.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Pick the smooth plastic microphone handle and transfer it to the other arm.", + "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.", + "Lift the microphone with rounded mesh head and pass it across.", + "Use the left arm to hold the black and white microphone, then give it to the right arm.", + "Use the left arm to grab the black and white microphone and transfer it to the right arm.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Reach for the compact size microphone and move it to the other hand.", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Hold the microphone with cylindrical handle firmly and pass it to the other arm.", + "Grip the handheld microphone and pass it to the other side", + "Take the microphone with rounded mesh head and move it to another hand.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Lift the mesh-patterned microphone head and hand it over to the other arm.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Lift the compact size microphone, then pass it across without delay.", + "Take the microphone with cylindrical handle, shift it, and release it to the other side.", + "Take the metal head microphone and move it to the other hand.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Lift the black and white microphone and hand it over to the other side.", + "Grasp the microphone with black tip and white body and switch it to another hand.", + "Take the mesh-patterned microphone head and pass it to another hand", + "Secure the metal head microphone from the table and transfer it.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Hold the handheld microphone and pass it to the other hand.", + "Grab the white microphone handle black accents and give it to the opposite arm.", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Hold the compact size microphone with one hand and transfer it", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Hold the microphone with textured metal head with the left arm and give it to the right arm.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Pick up the compact size microphone and hand it to the other side.", + "Secure the microphone for voice recording using one arm and transfer it.", + "Grasp the metal head microphone, then give it to the other arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode47.json b/ori_data/handover_mic/franka_clean/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..09df825b8163c91f17cb3ae6fb9e2cd4e54a5b91 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the white bottom microphone with textured tip, then give it to the right arm.", + "Lift the teal microphone and hand it over to the other side.", + "Grab the microphone with slider switch and smoothly give it to the other arm.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Grasp the textured white microphone head and pass it across.", + "Grasp the white and teal sound microphone and switch it to another hand.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Hold the rounded white tip microphone and pass it to the other hand.", + "Lift the handheld teal microphone and hand it to the other side easily.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Use one arm to pick up the sound microphone with teal body and give it to the other.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Grasp the teal microphone, then give it to the other arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Pick the textured white microphone head from the surface and switch hands.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Hold the sound microphone with teal body firmly and pass it to the other arm.", + "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.", + "Take the teal microphone and move it to another hand.", + "Pick up the white bottom microphone with textured tip and hand it to the other side.", + "Take the compact teal and white microphone and move it to the other hand.", + "Take the white and teal sound microphone, shift it, and release it to the other side.", + "Lift the white bottom microphone with textured tip, then pass it across without delay.", + "Use one hand to grab the textured white microphone head and pass it.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Pick up the white bottom microphone with textured tip, pass it to the other arm, and release.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Lift the microphone with slider switch and pass it across.", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Lift the teal microphone and deliver it to the other side.", + "Hold the compact teal and white microphone with one hand and transfer it", + "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.", + "Grab the microphone with white rounded head and transfer it to another hand", + "Take the textured white microphone head using the left arm and transfer it to the right arm.", + "Hold the white bottom microphone with textured tip with the left arm and give it to the right arm.", + "Hold the white and teal sound microphone and shift it to the other arm.", + "Secure the teal microphone from the table and transfer it.", + "Reach for the rounded white tip microphone and move it to the other hand.", + "Hold the microphone with slider switch and deliver it to another side.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Grab the microphone with white rounded head and smoothly give it to the other arm.", + "Pick up the textured white microphone head and transfer it to the opposite side.", + "Grasp the rounded white tip microphone and pass it across.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Grab the plastic teal microphone with slider and give it to the opposite arm.", + "Hold the sound microphone with teal body securely and shift it to another arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Take the white and teal sound microphone and pass it to another hand", + "Grab the long microphone with smooth teal grip using the left arm and pass it over to the right arm.", + "Use one arm to pick up the long microphone with smooth teal grip and give it to the other.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Pick the teal microphone and transfer it to the other arm.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Lift the long microphone with smooth teal grip and hand it to someone else.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Secure the rounded white tip microphone using one arm and transfer it.", + "Hold the handheld teal microphone firmly and pass it to the other arm.", + "Use the left arm to grab the microphone with white rounded head and transfer it to the right arm.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Pick up the teal microphone and hand it to the other side.", + "Take the microphone with slider switch and move it to the other hand.", + "Take the microphone with white rounded head, shift it, and release it to the other side.", + "Lift the rounded white tip microphone, then pass it across without delay.", + "Use one hand to grab the textured white microphone head and pass it.", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Pick up the rounded white tip microphone, pass it to the other arm, and release.", + "Pick up the textured white microphone head and move it to the opposite side", + "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.", + "Lift the textured white microphone head and pass it across.", + "Seize the microphone with slider switch and offer it to the other arm", + "Grip the sound microphone with teal body and pass it to the other side", + "Lift the rounded white tip microphone and deliver it to the other side.", + "Hold the teal microphone with one hand and transfer it", + "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.", + "Grab the white bottom microphone with textured tip and transfer it to another hand", + "Take the compact teal and white microphone using the left arm and transfer it to the right arm.", + "Hold the sound microphone with teal body with the left arm and give it to the right arm.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Secure the teal microphone from the table and transfer it.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Hold the textured white microphone head and deliver it to another side.", + "Use the left arm to hold the textured white microphone head, then give it to the right arm.", + "Lift the teal microphone and hand it over to the other side.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Pick up the microphone with slider switch and transfer it to the opposite side.", + "Grasp the sound microphone with teal body and pass it across.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Grab the teal microphone and give it to the opposite arm.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Hold the microphone with slider switch and pass it to the other hand.", + "Lift the white and teal sound microphone and hand it to the other side easily." + ], + "unseen": [ + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode48.json b/ori_data/handover_mic/franka_clean/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..77ab2c3e3655dcdc68e4db2d09ef915c089248a1 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the rounded white tip microphone and transfer it to the left arm.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Use one hand to grab the microphone with white rounded head and pass it.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Seize the handheld teal microphone and offer it to the other arm", + "Hold the teal microphone securely and shift it to another arm.", + "Lift the microphone with white rounded head and hand it to someone else.", + "Pick up the white bottom microphone with textured tip and move it to the opposite side", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Pick up the microphone with white rounded head and transfer it to the opposite side.", + "Take the teal microphone, shift it, and release it to the other side.", + "Take the rounded white tip microphone and move it to another hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Grab the plastic teal microphone with slider and transfer it to another hand", + "Lift the sound microphone with teal body and pass it across.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Take the microphone with white rounded head using the right arm and transfer it to the left arm.", + "Lift the compact teal and white microphone and hand it over to the other side.", + "Take the white and teal sound microphone and move it to the other hand.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Hold the microphone with white rounded head firmly and pass it to the other arm.", + "Pick up the white and teal sound microphone, pass it to the other arm, and release.", + "Grasp the microphone with white rounded head and pass it across.", + "Hold the microphone with white rounded head with the right arm and give it to the left arm.", + "Secure the teal microphone from the table and transfer it.", + "Pick the microphone with white rounded head from the surface and switch hands.", + "Grasp the sound microphone with teal body and switch it to another hand.", + "Lift the plastic teal microphone with slider and hand it over to the other arm.", + "Hold the textured white microphone head and deliver it to another side.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Pick up the textured white microphone head and hand it to the other side.", + "Hold the microphone with white rounded head and shift it to the other arm.", + "Lift the textured white microphone head, then pass it across without delay.", + "Grasp the long microphone with smooth teal grip and shift it to the opposite hand.", + "Grab the teal microphone and smoothly give it to the other arm.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Grip the white and teal sound microphone and pass it to the other side", + "Grab the microphone with slider switch and give it to the opposite arm.", + "Lift the microphone with white rounded head and hand it to the other side easily.", + "Secure the long microphone with smooth teal grip using one arm and transfer it.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Use one hand to grab the microphone with slider switch and pass it.", + "Take the plastic teal microphone with slider and pass it to another hand", + "Seize the plastic teal microphone with slider and offer it to the other arm", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Lift the white and teal sound microphone and hand it to someone else.", + "Pick up the microphone with white rounded head and move it to the opposite side", + "Pick the teal microphone and transfer it to the other arm.", + "Grasp the plastic teal microphone with slider, then give it to the other arm.", + "Pick up the rounded white tip microphone and transfer it to the opposite side.", + "Take the microphone with slider switch, shift it, and release it to the other side.", + "Take the long microphone with smooth teal grip and move it to another hand.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Grab the microphone with slider switch and transfer it to another hand", + "Lift the compact teal and white microphone and pass it across.", + "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Lift the textured white microphone head and hand it over to the other side.", + "Take the compact teal and white microphone and move it to the other hand.", + "Reach for the microphone with slider switch and move it to the other hand.", + "Hold the sound microphone with teal body with one hand and transfer it", + "Grab the long microphone with smooth teal grip using the right arm and pass it over to the left arm.", + "Hold the plastic teal microphone with slider and pass it to the other hand.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Grasp the white and teal sound microphone and pass it across.", + "Hold the white and teal sound microphone with the right arm and give it to the left arm.", + "Secure the teal microphone from the table and transfer it.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Grasp the white bottom microphone with textured tip and switch it to another hand.", + "Lift the textured white microphone head and hand it over to the other arm.", + "Hold the long microphone with smooth teal grip and deliver it to another side.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Pick up the long microphone with smooth teal grip and hand it to the other side.", + "Hold the white bottom microphone with textured tip and shift it to the other arm.", + "Lift the compact teal and white microphone, then pass it across without delay.", + "Grasp the compact teal and white microphone and shift it to the opposite hand.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Use the right arm to hold the teal microphone, then give it to the left arm.", + "Grip the sound microphone with teal body and pass it to the other side", + "Grab the rounded white tip microphone and give it to the opposite arm.", + "Lift the textured white microphone head and hand it to the other side easily.", + "Secure the handheld teal microphone using one arm and transfer it.", + "Take the compact teal and white microphone, pass it, and release it to complete the task.", + "Use the right arm to grab the compact teal and white microphone and transfer it to the left arm.", + "Use one arm to pick up the microphone with slider switch and give it to the other.", + "Use one hand to grab the long microphone with smooth teal grip and pass it.", + "Take the compact teal and white microphone and pass it to another hand", + "Seize the white bottom microphone with textured tip and offer it to the other arm", + "Hold the microphone with white rounded head securely and shift it to another arm.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Pick the microphone with white rounded head and transfer it to the other arm.", + "Grasp the compact teal and white microphone, then give it to the other arm." + ], + "unseen": [ + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the switchable microphone with teal body and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Grab the long teal microphone with white grooves from the table and pass it across." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode49.json b/ori_data/handover_mic/franka_clean/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..87a1eb397808c18c4571b50ba2271622a01f05c9 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic teal microphone with slider and pass it across.", + "Take the rounded white tip microphone and pass it to another hand", + "Seize the handheld teal microphone and offer it to the other arm", + "Secure the microphone with slider switch from the table and transfer it.", + "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.", + "Hold the handheld teal microphone and deliver it to another side.", + "Use one arm to pick up the white and teal sound microphone and give it to the other.", + "Hold the textured white microphone head with one hand and transfer it", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Grab the microphone with slider switch and transfer it to another hand", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Pick up the compact teal and white microphone, pass it to the other arm, and release.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Hold the white and teal sound microphone and pass it to the other hand.", + "Hold the plastic teal microphone with slider and shift it to the other arm.", + "Take the rounded white tip microphone, pass it, and release it to complete the task.", + "Reach for the handheld teal microphone and move it to the other hand.", + "Take the microphone with white rounded head and move it to the other hand.", + "Lift the white and teal sound microphone and deliver it to the other side.", + "Take the white and teal sound microphone and move it to another hand.", + "Grab the handheld teal microphone using the right arm and pass it over to the left arm.", + "Pick up the rounded white tip microphone and move it to the opposite side", + "Lift the compact teal and white microphone and hand it to the other side easily.", + "Pick the sound microphone with teal body and transfer it to the other arm.", + "Use the right arm to hold the white bottom microphone with textured tip, then give it to the left arm.", + "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.", + "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.", + "Grasp the compact teal and white microphone and pass it across.", + "Lift the white and teal sound microphone, then pass it across without delay.", + "Pick the white and teal sound microphone from the surface and switch hands.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Lift the rounded white tip microphone and hand it to someone else.", + "Grasp the compact teal and white microphone, then give it to the other arm.", + "Secure the plastic teal microphone with slider using one arm and transfer it.", + "Lift the sound microphone with teal body and hand it over to the other side.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Hold the teal microphone firmly and pass it to the other arm.", + "Grab the teal microphone and give it to the opposite arm.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grasp the handheld teal microphone and switch it to another hand.", + "Take the plastic teal microphone with slider using the right arm and transfer it to the left arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Use one hand to grab the handheld teal microphone and pass it.", + "Lift the microphone with slider switch and pass it across.", + "Take the compact teal and white microphone and pass it to another hand", + "Seize the sound microphone with teal body and offer it to the other arm", + "Secure the microphone with slider switch from the table and transfer it.", + "Lift the microphone with white rounded head using the right arm and pass it to the left arm.", + "Hold the microphone with slider switch and deliver it to another side.", + "Use one arm to pick up the compact teal and white microphone and give it to the other.", + "Hold the white and teal sound microphone with one hand and transfer it", + "Grab the compact teal and white microphone and smoothly give it to the other arm.", + "Pick up the white and teal sound microphone and hand it to the other side.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Grasp the textured white microphone head and shift it to the opposite hand.", + "Pick up the handheld teal microphone, pass it to the other arm, and release.", + "Grip the rounded white tip microphone and pass it to the other side", + "Hold the microphone with slider switch and pass it to the other hand.", + "Hold the teal microphone and shift it to the other arm.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Lift the microphone with slider switch and deliver it to the other side.", + "Take the microphone with slider switch and move it to another hand.", + "Grab the textured white microphone head using the right arm and pass it over to the left arm.", + "Pick up the long microphone with smooth teal grip and move it to the opposite side", + "Lift the white bottom microphone with textured tip and hand it to the other side easily.", + "Pick the white and teal sound microphone and transfer it to the other arm.", + "Use the right arm to hold the textured white microphone head, then give it to the left arm.", + "Use the right arm to grab the textured white microphone head and transfer it to the left arm.", + "Hold the long microphone with smooth teal grip with the right arm and give it to the left arm.", + "Grasp the microphone with white rounded head and pass it across.", + "Lift the long microphone with smooth teal grip, then pass it across without delay.", + "Pick the plastic teal microphone with slider from the surface and switch hands.", + "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.", + "Lift the teal microphone and hand it to someone else.", + "Grasp the rounded white tip microphone, then give it to the other arm.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Lift the white bottom microphone with textured tip and hand it over to the other side.", + "Take the sound microphone with teal body, shift it, and release it to the other side.", + "Hold the white and teal sound microphone firmly and pass it to the other arm.", + "Grab the microphone with white rounded head and give it to the opposite arm.", + "Lift the teal microphone and hand it over to the other arm.", + "Hold the white and teal sound microphone securely and shift it to another arm.", + "Grasp the microphone with slider switch and switch it to another hand.", + "Take the textured white microphone head using the right arm and transfer it to the left arm.", + "Pick up the compact teal and white microphone and transfer it to the opposite side.", + "Use one hand to grab the rounded white tip microphone and pass it.", + "Lift the compact teal and white microphone and pass it across.", + "Take the microphone with slider switch and pass it to another hand", + "Seize the long microphone with smooth teal grip and offer it to the other arm", + "Secure the compact teal and white microphone from the table and transfer it.", + "Lift the teal microphone using the right arm and pass it to the left arm.", + "Hold the teal microphone and deliver it to another side.", + "Use one arm to pick up the textured white microphone head and give it to the other.", + "Hold the plastic teal microphone with slider with one hand and transfer it", + "Grab the handheld teal microphone and smoothly give it to the other arm.", + "Pick up the textured white microphone head and hand it to the other side." + ], + "unseen": [ + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the switchable microphone with teal body and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode5.json b/ori_data/handover_mic/franka_clean/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..b467f2fcd43de5007e58885f124ca40106204485 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the white microphone handle black accents and pass it to another hand", + "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.", + "Pick up the white microphone handle black accents, pass it to the other arm, and release.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.", + "Take the black and white microphone and move it to the other hand.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick the microphone with rounded mesh head and transfer it to the other arm.", + "Reach for the microphone with cylindrical handle and move it to the other hand.", + "Use one arm to pick up the black and white microphone and give it to the other.", + "Lift the compact size microphone, then pass it across without delay.", + "Grasp the microphone with black tip and white body, then give it to the other arm.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Lift the mesh-patterned microphone head and hand it over to the other side.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Secure the microphone with textured metal head using one arm and transfer it.", + "Grip the metal head microphone and pass it to the other side", + "Lift the microphone with rounded mesh head and hand it to the other side easily.", + "Grab the white microphone handle black accents using the left arm and pass it over to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Take the microphone with textured metal head, pass it, and release it to complete the task.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Secure the microphone for voice recording from the table and transfer it.", + "Seize the microphone with cylindrical handle and offer it to the other arm", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Use the left arm to hold the handheld microphone, then give it to the right arm.", + "Hold the microphone with rounded mesh head securely and shift it to another arm.", + "Pick up the handheld microphone and hand it to the other side.", + "Hold the white microphone handle black accents and shift it to the other arm.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Grab the microphone for voice recording and give it to the opposite arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Lift the microphone with textured metal head and hand it over to the other arm.", + "Lift the black and white microphone and pass it across.", + "Hold the compact size microphone and pass it to the other hand.", + "Grasp the metal head microphone and switch it to another hand.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Take the white microphone handle black accents and move it to another hand.", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Grasp the metal head microphone and shift it to the opposite hand.", + "Pick up the handheld microphone and transfer it to the opposite side.", + "Take the microphone with rounded mesh head and pass it to another hand", + "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.", + "Pick up the handheld microphone, pass it to the other arm, and release.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Lift the compact size microphone using the left arm and pass it to the right arm.", + "Take the smooth plastic microphone handle and move it to the other hand.", + "Grab the black and white microphone and smoothly give it to the other arm.", + "Pick the mesh-patterned microphone head and transfer it to the other arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Lift the handheld microphone, then pass it across without delay.", + "Grasp the smooth plastic microphone handle, then give it to the other arm.", + "Grab the metal head microphone and transfer it to another hand", + "Lift the handheld microphone and hand it over to the other side.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Secure the metal head microphone using one arm and transfer it.", + "Grip the compact size microphone and pass it to the other side", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Hold the metal head microphone firmly and pass it to the other arm.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Use one hand to grab the mesh-patterned microphone head and pass it.", + "Secure the microphone for voice recording from the table and transfer it.", + "Seize the handheld microphone and offer it to the other arm", + "Take the handheld microphone using the left arm and transfer it to the right arm.", + "Use the left arm to hold the microphone for voice recording, then give it to the right arm.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Pick up the smooth plastic microphone handle and hand it to the other side.", + "Hold the black and white microphone and shift it to the other arm.", + "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Grab the microphone with rounded mesh head and give it to the opposite arm.", + "Hold the microphone for voice recording and deliver it to another side.", + "Lift the white microphone handle black accents and hand it over to the other arm.", + "Lift the white microphone handle black accents and pass it across.", + "Hold the black and white microphone and pass it to the other hand.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Pick up the microphone with cylindrical handle and move it to the opposite side", + "Take the microphone with black tip and white body and move it to another hand.", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Grasp the handheld microphone and shift it to the opposite hand.", + "Pick up the mesh-patterned microphone head and transfer it to the opposite side.", + "Take the handheld microphone and pass it to another hand", + "Use the left arm to grab the compact size microphone and transfer it to the right arm.", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Hold the microphone with black tip and white body with one hand and transfer it", + "Grasp the compact size microphone, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Take the white microphone handle black accents and move it to the other hand.", + "Grab the microphone with rounded mesh head and smoothly give it to the other arm.", + "Pick the microphone with black tip and white body and transfer it to the other arm.", + "Reach for the microphone with rounded mesh head and move it to the other hand." + ], + "unseen": [ + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the black and white plastic microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Pick up the microphone used for audio input and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it over.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Pick up the lightweight handheld microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Pick up the black and white plastic microphone and hand it over", + "Grab the microphone used for audio input from the table and pass it across.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode6.json b/ori_data/handover_mic/franka_clean/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..57a6e7bff49ffaaf1707cf23f7d42e7cb53f21ab --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the white microphone handle black accents and move it to the other hand.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick the metal head microphone and transfer it to the other arm.", + "Lift the white microphone handle black accents and deliver it to the other side.", + "Hold the microphone for voice recording and deliver it to another side.", + "Secure the microphone with black tip and white body from the table and transfer it.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the smooth plastic microphone handle, then pass it across without delay.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Use one arm to pick up the compact size microphone and give it to the other.", + "Grab the microphone for voice recording and transfer it to another hand", + "Grasp the microphone with textured metal head, then give it to the other arm.", + "Secure the handheld microphone using one arm and transfer it.", + "Pick up the metal head microphone, pass it to the other arm, and release.", + "Grasp the compact size microphone and pass it across.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Pick up the microphone with rounded mesh head and transfer it to the opposite side.", + "Lift the smooth plastic microphone handle using the right arm and pass it to the left arm.", + "Grab the microphone with textured metal head and give it to the opposite arm.", + "Grasp the microphone with black tip and white body and shift it to the opposite hand.", + "Hold the microphone with textured metal head with one hand and transfer it", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Grab the white microphone handle black accents and smoothly give it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.", + "Hold the white microphone handle black accents and pass it to the other hand.", + "Take the mesh-patterned microphone head and move it to the other hand.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.", + "Use the right arm to hold the metal head microphone, then give it to the left arm.", + "Grab the metal head microphone using the right arm and pass it over to the left arm.", + "Lift the handheld microphone and hand it over to the other side.", + "Lift the smooth plastic microphone handle and pass it across.", + "Lift the white microphone handle black accents and hand it to someone else.", + "Hold the white microphone handle black accents firmly and pass it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Take the black and white microphone and pass it to another hand", + "Take the microphone with textured metal head, shift it, and release it to the other side.", + "Use one hand to grab the microphone with cylindrical handle and pass it.", + "Pick the smooth plastic microphone handle from the surface and switch hands.", + "Pick up the microphone with rounded mesh head and hand it to the other side.", + "Pick up the handheld microphone and move it to the opposite side", + "Reach for the microphone for voice recording and move it to the other hand.", + "Take the microphone with cylindrical handle and move it to another hand.", + "Pick the black and white microphone and transfer it to the other arm.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Hold the handheld microphone and deliver it to another side.", + "Secure the smooth plastic microphone handle from the table and transfer it.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Hold the black and white microphone securely and shift it to another arm.", + "Lift the mesh-patterned microphone head and hand it to the other side easily.", + "Hold the mesh-patterned microphone head and shift it to the other arm.", + "Lift the handheld microphone, then pass it across without delay.", + "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.", + "Use one arm to pick up the microphone with cylindrical handle and give it to the other.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Grasp the microphone with rounded mesh head, then give it to the other arm.", + "Secure the microphone with black tip and white body using one arm and transfer it.", + "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.", + "Grasp the handheld microphone and pass it across.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Lift the microphone with rounded mesh head using the right arm and pass it to the left arm.", + "Grab the compact size microphone and give it to the opposite arm.", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand.", + "Hold the smooth plastic microphone handle with one hand and transfer it", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Seize the compact size microphone and offer it to the other arm", + "Hold the handheld microphone with the right arm and give it to the left arm.", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Take the handheld microphone and move it to the other hand.", + "Grip the black and white microphone and pass it to the other side", + "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.", + "Lift the metal head microphone and hand it over to the other side.", + "Lift the compact size microphone and pass it across.", + "Lift the mesh-patterned microphone head and hand it to someone else.", + "Hold the mesh-patterned microphone head firmly and pass it to the other arm.", + "Grasp the white microphone handle black accents and switch it to another hand.", + "Take the microphone with textured metal head and pass it to another hand", + "Take the mesh-patterned microphone head, shift it, and release it to the other side.", + "Use one hand to grab the microphone with textured metal head and pass it.", + "Pick the white microphone handle black accents from the surface and switch hands.", + "Pick up the white microphone handle black accents and hand it to the other side.", + "Pick up the microphone with textured metal head and move it to the opposite side", + "Reach for the microphone for voice recording and move it to the other hand.", + "Take the microphone for voice recording and move it to another hand.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Lift the compact size microphone and deliver it to the other side.", + "Hold the microphone with rounded mesh head and deliver it to another side.", + "Secure the metal head microphone from the table and transfer it.", + "Take the white microphone handle black accents, pass it, and release it to complete the task.", + "Hold the metal head microphone securely and shift it to another arm.", + "Lift the microphone with black tip and white body and hand it to the other side easily.", + "Hold the mesh-patterned microphone head and shift it to the other arm." + ], + "unseen": [ + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode7.json b/ori_data/handover_mic/franka_clean/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..c1baf84b29f4a6755e911ab3d6199a6e21148185 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the smooth plastic microphone handle and move it to the opposite side", + "Pick up the microphone with black tip and white body, pass it to the other arm, and release.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Use the right arm to grab the microphone for voice recording and transfer it to the left arm.", + "Grasp the microphone with textured metal head and pass it across.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.", + "Lift the microphone with black tip and white body and hand it over to the other side.", + "Take the handheld microphone and pass it to another hand", + "Grasp the white microphone handle black accents and shift it to the opposite hand.", + "Reach for the microphone for voice recording and move it to the other hand.", + "Take the white microphone handle black accents and move it to another hand.", + "Hold the white microphone handle black accents with one hand and transfer it", + "Take the smooth plastic microphone handle, shift it, and release it to the other side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Seize the microphone with black tip and white body and offer it to the other arm", + "Secure the handheld microphone using one arm and transfer it.", + "Grip the metal head microphone and pass it to the other side", + "Grasp the metal head microphone, transfer it, then let go of it smoothly.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Use one arm to pick up the handheld microphone and give it to the other.", + "Hold the handheld microphone and shift it to the other arm.", + "Secure the white microphone handle black accents from the table and transfer it.", + "Pick up the compact size microphone and transfer it to the opposite side.", + "Take the metal head microphone, pass it, and release it to complete the task.", + "Pick the microphone for voice recording and transfer it to the other arm.", + "Lift the microphone for voice recording using the right arm and pass it to the left arm.", + "Lift the compact size microphone and hand it over to the other arm.", + "Use the right arm to hold the white microphone handle black accents, then give it to the left arm.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Use one hand to grab the smooth plastic microphone handle and pass it.", + "Grab the microphone with textured metal head and transfer it to another hand", + "Hold the microphone with black tip and white body and deliver it to another side.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Hold the microphone with cylindrical handle and pass it to the other hand.", + "Grab the smooth plastic microphone handle and smoothly give it to the other arm.", + "Pick up the compact size microphone and hand it to the other side.", + "Grab the handheld microphone using the right arm and pass it over to the left arm.", + "Hold the microphone for voice recording firmly and pass it to the other arm.", + "Hold the compact size microphone with the right arm and give it to the left arm.", + "Take the black and white microphone and move it to the other hand.", + "Lift the white microphone handle black accents and pass it across.", + "Grab the microphone with cylindrical handle and give it to the opposite arm.", + "Pick up the microphone for voice recording and move it to the opposite side", + "Pick up the microphone with textured metal head, pass it to the other arm, and release.", + "Lift the black and white microphone and hand it to the other side easily.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the microphone with textured metal head and deliver it to the other side.", + "Take the microphone with textured metal head using the right arm and transfer it to the left arm.", + "Lift the microphone with rounded mesh head and hand it over to the other side.", + "Take the handheld microphone and pass it to another hand", + "Grasp the microphone for voice recording and shift it to the opposite hand.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Take the microphone with black tip and white body and move it to another hand.", + "Hold the microphone with cylindrical handle with one hand and transfer it", + "Take the microphone with black tip and white body, shift it, and release it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Seize the microphone with textured metal head and offer it to the other arm", + "Secure the compact size microphone using one arm and transfer it.", + "Grip the handheld microphone and pass it to the other side", + "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.", + "Hold the mesh-patterned microphone head securely and shift it to another arm.", + "Grasp the metal head microphone and switch it to another hand.", + "Use one arm to pick up the metal head microphone and give it to the other.", + "Hold the compact size microphone and shift it to the other arm.", + "Secure the black and white microphone from the table and transfer it.", + "Pick up the black and white microphone and transfer it to the opposite side.", + "Take the microphone with cylindrical handle, pass it, and release it to complete the task.", + "Pick the compact size microphone and transfer it to the other arm.", + "Lift the microphone with black tip and white body using the right arm and pass it to the left arm.", + "Lift the microphone with rounded mesh head and hand it over to the other arm.", + "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Use one hand to grab the microphone with black tip and white body and pass it.", + "Grab the microphone with black tip and white body and transfer it to another hand", + "Hold the microphone for voice recording and deliver it to another side.", + "Grasp the compact size microphone, then give it to the other arm.", + "Hold the metal head microphone and pass it to the other hand.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick up the black and white microphone and hand it to the other side.", + "Grab the mesh-patterned microphone head using the right arm and pass it over to the left arm.", + "Hold the compact size microphone firmly and pass it to the other arm.", + "Hold the microphone with cylindrical handle with the right arm and give it to the left arm.", + "Take the microphone with rounded mesh head and move it to the other hand.", + "Lift the mesh-patterned microphone head and pass it across.", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Pick up the compact size microphone and move it to the opposite side", + "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.", + "Lift the handheld microphone and hand it to the other side easily.", + "Use the right arm to grab the microphone with cylindrical handle and transfer it to the left arm.", + "Grasp the mesh-patterned microphone head and pass it across.", + "Lift the microphone with black tip and white body and deliver it to the other side.", + "Take the white microphone handle black accents using the right arm and transfer it to the left arm.", + "Lift the white microphone handle black accents and hand it over to the other side.", + "Take the white microphone handle black accents and pass it to another hand", + "Grasp the smooth plastic microphone handle and shift it to the opposite hand." + ], + "unseen": [ + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the lightweight handheld microphone and hand it over", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Pick up the microphone used for audio input and hand it over", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Grab the microphone used for audio input from the table and pass it across.", + "Pick up the black and white plastic microphone and hand it over" + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode8.json b/ori_data/handover_mic/franka_clean/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..7de745c1324b96a99191b45b8365d94b4ae05b14 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grasp the black and white microphone, transfer it, then let go of it smoothly.", + "Lift the microphone with rounded mesh head and deliver it to the other side.", + "Lift the black and white microphone using the left arm and pass it to the right arm.", + "Take the compact size microphone, pass it, and release it to complete the task.", + "Take the microphone for voice recording and move it to another hand.", + "Secure the black and white microphone using one arm and transfer it.", + "Hold the microphone for voice recording securely and shift it to another arm.", + "Take the handheld microphone, shift it, and release it to the other side.", + "Hold the handheld microphone and deliver it to another side.", + "Lift the microphone with textured metal head and hand it over to the other side.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Lift the white microphone handle black accents and hand it to the other side easily.", + "Pick up the microphone with black tip and white body and transfer it to the opposite side.", + "Lift the microphone with black tip and white body and pass it across.", + "Hold the metal head microphone with the left arm and give it to the right arm.", + "Pick the black and white microphone and transfer it to the other arm.", + "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.", + "Pick up the microphone with black tip and white body and move it to the opposite side", + "Hold the handheld microphone with one hand and transfer it", + "Take the microphone with black tip and white body and pass it to another hand", + "Hold the smooth plastic microphone handle and pass it to the other hand.", + "Hold the microphone with black tip and white body firmly and pass it to the other arm.", + "Grab the microphone for voice recording using the left arm and pass it over to the right arm.", + "Use one hand to grab the black and white microphone and pass it.", + "Lift the microphone with black tip and white body and hand it over to the other arm.", + "Grasp the smooth plastic microphone handle and pass it across.", + "Grip the white microphone handle black accents and pass it to the other side", + "Grab the microphone with black tip and white body and give it to the opposite arm.", + "Pick up the mesh-patterned microphone head and hand it to the other side.", + "Lift the microphone for voice recording, then pass it across without delay.", + "Lift the microphone with black tip and white body and hand it to someone else.", + "Grab the compact size microphone and smoothly give it to the other arm.", + "Pick the mesh-patterned microphone head from the surface and switch hands.", + "Grasp the microphone with cylindrical handle and shift it to the opposite hand.", + "Take the microphone with black tip and white body and move it to the other hand.", + "Reach for the handheld microphone and move it to the other hand.", + "Grasp the microphone with cylindrical handle and switch it to another hand.", + "Secure the microphone for voice recording from the table and transfer it.", + "Use the left arm to grab the mesh-patterned microphone head and transfer it to the right arm.", + "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Take the microphone for voice recording using the left arm and transfer it to the right arm.", + "Hold the microphone with rounded mesh head and shift it to the other arm.", + "Grasp the black and white microphone, then give it to the other arm.", + "Seize the smooth plastic microphone handle and offer it to the other arm", + "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.", + "Lift the microphone with cylindrical handle and deliver it to the other side.", + "Lift the handheld microphone using the left arm and pass it to the right arm.", + "Take the mesh-patterned microphone head, pass it, and release it to complete the task.", + "Take the metal head microphone and move it to another hand.", + "Secure the handheld microphone using one arm and transfer it.", + "Hold the microphone with textured metal head securely and shift it to another arm.", + "Take the white microphone handle black accents, shift it, and release it to the other side.", + "Hold the black and white microphone and deliver it to another side.", + "Lift the smooth plastic microphone handle and hand it over to the other side.", + "Use one arm to pick up the mesh-patterned microphone head and give it to the other.", + "Lift the microphone with textured metal head and hand it to the other side easily.", + "Pick up the metal head microphone and transfer it to the opposite side.", + "Lift the compact size microphone and pass it across.", + "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.", + "Pick the microphone with cylindrical handle and transfer it to the other arm.", + "Pick up the black and white microphone, pass it to the other arm, and release.", + "Pick up the mesh-patterned microphone head and move it to the opposite side", + "Hold the black and white microphone with one hand and transfer it", + "Take the metal head microphone and pass it to another hand", + "Hold the microphone with rounded mesh head and pass it to the other hand.", + "Hold the handheld microphone firmly and pass it to the other arm.", + "Grab the compact size microphone using the left arm and pass it over to the right arm.", + "Use one hand to grab the microphone with rounded mesh head and pass it.", + "Lift the microphone with cylindrical handle and hand it over to the other arm.", + "Grasp the black and white microphone and pass it across.", + "Grip the microphone with black tip and white body and pass it to the other side", + "Grab the mesh-patterned microphone head and give it to the opposite arm.", + "Pick up the microphone with cylindrical handle and hand it to the other side.", + "Lift the microphone with cylindrical handle, then pass it across without delay.", + "Lift the microphone with rounded mesh head and hand it to someone else.", + "Grab the handheld microphone and smoothly give it to the other arm.", + "Pick the microphone for voice recording from the surface and switch hands.", + "Grasp the microphone with rounded mesh head and shift it to the opposite hand.", + "Take the black and white microphone and move it to the other hand.", + "Reach for the smooth plastic microphone handle and move it to the other hand.", + "Grasp the metal head microphone and switch it to another hand.", + "Secure the microphone with rounded mesh head from the table and transfer it.", + "Use the left arm to grab the metal head microphone and transfer it to the right arm.", + "Use the left arm to hold the microphone with textured metal head, then give it to the right arm.", + "Grab the white microphone handle black accents and transfer it to another hand", + "Take the metal head microphone using the left arm and transfer it to the right arm.", + "Hold the microphone with textured metal head and shift it to the other arm.", + "Grasp the microphone for voice recording, then give it to the other arm.", + "Seize the metal head microphone and offer it to the other arm", + "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.", + "Lift the mesh-patterned microphone head and deliver it to the other side.", + "Lift the mesh-patterned microphone head using the left arm and pass it to the right arm.", + "Take the microphone with black tip and white body, pass it, and release it to complete the task.", + "Take the microphone with textured metal head and move it to another hand.", + "Secure the mesh-patterned microphone head using one arm and transfer it.", + "Hold the white microphone handle black accents securely and shift it to another arm.", + "Take the microphone for voice recording, shift it, and release it to the other side.", + "Hold the mesh-patterned microphone head and deliver it to another side." + ], + "unseen": [ + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the black and white plastic microphone from the table and pass it over.", + "Pick up the lightweight handheld microphone and hand it over", + "Use one arm to hold the black and white plastic microphone and hand it over.", + "Take hold of the lightweight handheld microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the lightweight handheld microphone and pass it to the other arm.", + "Pick up the black and white plastic microphone and transfer it to the other hand.", + "Grab the black and white plastic microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over.", + "Grab the microphone used for audio input and pass it to the other arm.", + "Pick up the microphone used for audio input and transfer it to the other hand.", + "Grab the microphone used for audio input from the table and pass it across.", + "Grab the lightweight handheld microphone from the table and pass it over.", + "Pick up the black and white plastic microphone and hand it over", + "Use one arm to hold the microphone used for audio input and hand it over.", + "Take hold of the black and white plastic microphone and hand it over.", + "Grab the black and white plastic microphone and pass it to the other arm.", + "Pick up the lightweight handheld microphone and transfer it to the other hand.", + "Grab the lightweight handheld microphone from the table and pass it across.", + "Grab the microphone used for audio input from the table and pass it over.", + "Pick up the microphone used for audio input and hand it over", + "Use one arm to hold the lightweight handheld microphone and hand it over.", + "Take hold of the microphone used for audio input and hand it over." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/instructions/episode9.json b/ori_data/handover_mic/franka_clean/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..beb414c29fac87391cb8ec547193136ee105c795 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the microphone with slider switch from the table and transfer it.", + "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.", + "Reach for the sound microphone with teal body and move it to the other hand.", + "Lift the teal microphone and hand it to someone else.", + "Grab the sound microphone with teal body and transfer it to another hand", + "Hold the handheld teal microphone and deliver it to another side.", + "Hold the handheld teal microphone and shift it to the other arm.", + "Lift the white bottom microphone with textured tip and deliver it to the other side.", + "Take the long microphone with smooth teal grip and move it to the other hand.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Pick up the teal microphone and move it to the opposite side", + "Use the left arm to grab the teal microphone and transfer it to the right arm.", + "Use one hand to grab the sound microphone with teal body and pass it.", + "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.", + "Take the long microphone with smooth teal grip using the left arm and transfer it to the right arm.", + "Hold the teal microphone with the left arm and give it to the right arm.", + "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.", + "Lift the long microphone with smooth teal grip and hand it over to the other arm.", + "Lift the microphone with white rounded head and pass it across.", + "Hold the long microphone with smooth teal grip with one hand and transfer it", + "Take the textured white microphone head and move it to another hand.", + "Take the rounded white tip microphone, shift it, and release it to the other side.", + "Pick the white bottom microphone with textured tip from the surface and switch hands.", + "Hold the sound microphone with teal body and pass it to the other hand.", + "Pick up the handheld teal microphone and hand it to the other side.", + "Use the left arm to hold the plastic teal microphone with slider, then give it to the right arm.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Pick up the sound microphone with teal body and transfer it to the opposite side.", + "Secure the white and teal sound microphone using one arm and transfer it.", + "Seize the microphone with slider switch and offer it to the other arm", + "Use one arm to pick up the rounded white tip microphone and give it to the other.", + "Take the textured white microphone head, pass it, and release it to complete the task.", + "Lift the handheld teal microphone, then pass it across without delay.", + "Hold the compact teal and white microphone firmly and pass it to the other arm.", + "Take the sound microphone with teal body and pass it to another hand", + "Grasp the white and teal sound microphone and shift it to the opposite hand.", + "Lift the sound microphone with teal body using the left arm and pass it to the right arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Pick the compact teal and white microphone and transfer it to the other arm.", + "Grasp the teal microphone, then give it to the other arm.", + "Grab the white bottom microphone with textured tip and give it to the opposite arm.", + "Hold the long microphone with smooth teal grip securely and shift it to another arm.", + "Grip the teal microphone and pass it to the other side", + "Grab the rounded white tip microphone using the left arm and pass it over to the right arm.", + "Grasp the handheld teal microphone and pass it across.", + "Secure the microphone with white rounded head from the table and transfer it.", + "Pick up the teal microphone, pass it to the other arm, and release.", + "Reach for the white bottom microphone with textured tip and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the microphone with white rounded head and deliver it to another side.", + "Hold the microphone with slider switch and shift it to the other arm.", + "Lift the plastic teal microphone with slider and deliver it to the other side.", + "Take the teal microphone and move it to the other hand.", + "Grasp the plastic teal microphone with slider and switch it to another hand.", + "Pick up the teal microphone and move it to the opposite side", + "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.", + "Use one hand to grab the white bottom microphone with textured tip and pass it.", + "Grab the plastic teal microphone with slider and smoothly give it to the other arm.", + "Take the sound microphone with teal body using the left arm and transfer it to the right arm.", + "Hold the microphone with white rounded head with the left arm and give it to the right arm.", + "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.", + "Lift the microphone with slider switch and hand it over to the other arm.", + "Lift the microphone with white rounded head and pass it across.", + "Hold the rounded white tip microphone with one hand and transfer it", + "Take the white and teal sound microphone and move it to another hand.", + "Take the compact teal and white microphone, shift it, and release it to the other side.", + "Pick the handheld teal microphone from the surface and switch hands.", + "Hold the white bottom microphone with textured tip and pass it to the other hand.", + "Pick up the compact teal and white microphone and hand it to the other side.", + "Use the left arm to hold the handheld teal microphone, then give it to the right arm.", + "Lift the rounded white tip microphone and hand it to the other side easily.", + "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.", + "Secure the microphone with slider switch using one arm and transfer it.", + "Seize the teal microphone and offer it to the other arm", + "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.", + "Take the sound microphone with teal body, pass it, and release it to complete the task.", + "Lift the sound microphone with teal body, then pass it across without delay.", + "Hold the textured white microphone head firmly and pass it to the other arm.", + "Take the long microphone with smooth teal grip and pass it to another hand", + "Grasp the handheld teal microphone and shift it to the opposite hand.", + "Lift the white and teal sound microphone using the left arm and pass it to the right arm.", + "Lift the handheld teal microphone and hand it over to the other side.", + "Pick the plastic teal microphone with slider and transfer it to the other arm.", + "Grasp the microphone with slider switch, then give it to the other arm.", + "Grab the handheld teal microphone and give it to the opposite arm.", + "Hold the rounded white tip microphone securely and shift it to another arm.", + "Grip the plastic teal microphone with slider and pass it to the other side", + "Grab the teal microphone using the left arm and pass it over to the right arm.", + "Grasp the white and teal sound microphone and pass it across.", + "Secure the white and teal sound microphone from the table and transfer it.", + "Pick up the microphone with white rounded head, pass it to the other arm, and release.", + "Reach for the textured white microphone head and move it to the other hand.", + "Lift the plastic teal microphone with slider and hand it to someone else.", + "Grab the compact teal and white microphone and transfer it to another hand", + "Hold the microphone with slider switch and deliver it to another side.", + "Hold the sound microphone with teal body and shift it to the other arm.", + "Lift the sound microphone with teal body and deliver it to the other side.", + "Take the plastic teal microphone with slider and move it to the other hand.", + "Grasp the rounded white tip microphone and switch it to another hand." + ], + "unseen": [ + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the teal microphone with white bottom and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the switchable microphone with teal body from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the switchable microphone with teal body from the table and pass it across.", + "Take hold of the teal microphone with white bottom and hand it over.", + "Pick up the switchable microphone with teal body and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the teal microphone with white bottom and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the teal microphone with white bottom from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the long teal microphone with white grooves from the table and pass it over.", + "Grab the switchable microphone with teal body and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the teal microphone with white bottom and transfer it to the other hand.", + "Use one arm to hold the long teal microphone with white grooves and hand it over.", + "Pick up the long teal microphone with white grooves and hand it over", + "Grab the teal microphone with white bottom from the table and pass it over.", + "Grab the long teal microphone with white grooves and pass it to the other arm.", + "Grab the long teal microphone with white grooves from the table and pass it across.", + "Take hold of the switchable microphone with teal body and hand it over.", + "Pick up the long teal microphone with white grooves and transfer it to the other hand." + ] +} \ No newline at end of file diff --git a/ori_data/handover_mic/franka_clean/scene_info.json b/ori_data/handover_mic/franka_clean/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..36b08913929c89d400c243c5d8a64832c3ccc275 --- /dev/null +++ b/ori_data/handover_mic/franka_clean/scene_info.json @@ -0,0 +1,602 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base4", + "{a}": "right", + "{b}": "left" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base0", + "{a}": "left", + "{b}": "right" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base5", + "{a}": "right", + "{b}": "left" + } + }, + "episode_3": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base0", + "{a}": "right", + "{b}": "left" + } + }, + "episode_4": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base4", + "{a}": "right", + "{b}": "left" + } + }, + "episode_5": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base5", + "{a}": "left", + "{b}": "right" + } + }, + "episode_6": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base5", + "{a}": "right", + "{b}": "left" + } + }, + "episode_7": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base5", + "{a}": "right", + "{b}": "left" + } + }, + "episode_8": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base5", + "{a}": "left", + "{b}": "right" + } + }, + "episode_9": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base0", + "{a}": "left", + "{b}": "right" + } + }, + "episode_10": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base5", + "{a}": "right", + "{b}": "left" + } + }, + "episode_11": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base4", + "{a}": "right", + "{b}": "left" + } + }, + "episode_12": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "018_microphone/base0", + "{a}": "left", + "{b}": "right" + } + }, + "episode_13": { + 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0000000000000000000000000000000000000000..960854431d56ff5284450aac7b5d167960114150 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/data/episode8.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0999483b5d4248f2e12ad8703bb9249510c740459c62285fb8b89f1901ac7357 +size 7220752 diff --git a/ori_data/stack_blocks_two/franka_clean/data/episode9.hdf5 b/ori_data/stack_blocks_two/franka_clean/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..70b5112af44f96500000b432220465416c607b4a --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee606c288f738e4501f4b859dce559f41537d3c57216bfaa01aac84b311b252f +size 7061148 diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode0.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..df887b392e0a078da3e0b8c07ccd15eb614cd9ad --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block together at the center, then stack green block on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the right arm to move red block and the right arm to stack green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Set red block in the center, then position green block on top of it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the right arm to move red block and the right arm to stack green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Set red block in the center, then position green block on top of it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Bring red block to the center, then stack green block over it." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode1.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..2511c91bfc688d6f7205a2ecb5b7cba3bb2b154d --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode10.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..a521f64ab7a9f7337ebc7e511d32ea70d08e0981 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to move red block and the left arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block at the center and stack green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to move red block and the left arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block at the center and stack green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block." + ], + "unseen": [ + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode11.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..f6e86a522ac12dec110a941202b9530f08101a3a --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to stack green block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to stack green block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block to the center and place green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode12.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..60ddca7e75a36a93f1b5f845085313bc49a782c5 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Position red block at the center and stack green block above it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Use the right arm to move red block and the right arm to stack green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Position red block at the center and stack green block above it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Use the right arm to move red block and the right arm to stack green block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block." + ], + "unseen": [ + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode13.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..0028e290c91bc1f36469b96c65747ca14ab68219 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm to move red block and the right arm to stack green block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm to move red block and the right arm to stack green block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode14.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..35c7521ac501181d13761ef9845e017d5301b2fa --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Position red block at the center and stack green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Put red block in the center, then add green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Position red block at the center and stack green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Put red block in the center, then add green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Position red block at the center and stack green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode15.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..39cad39d16e2fb65b72ed7f87ab19b8ad0750952 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center, then stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center, then stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block." + ], + "unseen": [ + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode16.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..1bcbf404ebfaab1bcba35514c58031e0de175e56 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode17.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..21bbe71c4709d4683e58580c6f55a20c7c38f155 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode18.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..1f2eba56496298006d3e6f2d4df6263a438bfbbc --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block to the center and place green block on top.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block at the center and stack green block above it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block to the center and place green block on top.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Position red block at the center and stack green block above it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it." + ], + "unseen": [ + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode19.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..1355b24b7aa309cce4458afa1416454a41f6dd7d --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block to the middle and place green block on it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block to the middle and place green block on it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode2.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..0087d4c18c717671c004438884affdba132f683b --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Set red block in the center, then position green block on top of it." + ], + "unseen": [ + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode20.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d9280621da7da477ce71d394cca1d8397f8b14 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode21.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..d2b2a1a5f9e4d67978988ecc29fbabe08b971de0 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode22.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..3c6fdc917661dfb9802ff1c13a2cafc0b94cb1b8 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Use the left arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Position red block at the center and stack green block above it.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Shift red block to the center and place green block on top.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Use the left arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Position red block at the center and stack green block above it.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block." + ], + "unseen": [ + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode23.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..f40ecddd80da7026ebd94292efa0ec0505aa446b --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the middle and put green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to stack green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to position green block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the middle and put green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to stack green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to move red block and the right arm to position green block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block at the center and stack green block above it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode24.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..5a004fa01c2f629fe40973674cf5b8a99a9a63e6 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode25.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..af07b1678f6d9d862c7b1507c21461c240a9ac33 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block together at the center, then stack green block on top." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode26.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..f89654e2245ec172a024df061bdcc31dd2786c83 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Position red block at the center and stack green block above it.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode27.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..f6e0992d377d45772364722342633f1ec2845c96 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Put red block in the center, then add green block above it." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode28.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..e695bbffc97f31c94317707721d0424a2ef35023 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block to the center and place green block on top.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode29.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..da8db424774de3d2d0007656cf209d55195304e7 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block and the right arm to stack green block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to move red block and the right arm to stack green block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Place red block and green block at the center and then put green block on red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block." + ], + "unseen": [ + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode3.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..1a42ddf93109f2b693d6e0ee46f31d51f1f12c5e --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, then stack green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block." + ], + "unseen": [ + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode30.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..f63e55c96f358e66ce0689a795fe80fe52a1009a --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Put red block in the center, then add green block above it.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Put red block in the center, then add green block above it.", + "Relocate red block to the middle and place green block on it.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block centrally, then stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode31.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..c7679abb4049ed2228a7e000b290ee5b9ad8ab51 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Bring red block to the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Place red block and green block at the center and then put green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Bring red block to the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode32.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ddc0712396bf1d7d4371b1b12ba260b17faee3 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Position red block at the center and stack green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Position red block at the center and stack green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode33.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..f7c0fbdf65efbde77029b8187f8ba385343369e9 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the left arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "the left arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block to the center using the left arm, then stack green block on red block using the left arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "the left arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block and the left arm to position green block.", + "Utilize the left arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, using the left arm and the left arm, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the left arm.", + "Use the left arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block, then the left arm to stack green block on red block at the center.", + "Move red block with the left arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Center red block using the left arm, then stack green block with the left arm on top.", + "Place red block and green block in the center, then stack green block above red block.", + "the left arm moves red block to the center, the left arm stacks green block onto red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the left arm to stack green block above red block." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the left arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode34.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..01875b4537c1da7d84c337f20a93a5ed0cf32250 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode35.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..c8aa1cb73c21a5b6304a65b2fa6976991ca1af57 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block at the center and stack green block above it.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Put red block in the center, then add green block above it.", + "Bring red block to the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Put red block in the center, then add green block above it.", + "Bring red block to the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Place red block and green block at the center and then put green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block to the center and place green block on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block to the middle and put green block on top of it.", + "Put red block in the center, then add green block above it.", + "Bring red block to the center, then stack green block over it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to stack green block." + ], + "unseen": [ + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode36.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..1618225968f199ea00ddd457dc9b1eace689e6dd --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block at the center and then put green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Put red block in the center, then add green block above it.", + "Relocate red block to the middle and place green block on it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Put red block in the center, then add green block above it.", + "Relocate red block to the middle and place green block on it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the middle and put green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode37.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..885b48bbf451d847bd4b016f447c78e323a23960 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block to the center and place green block on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block to the center and place green block on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Bring red block to the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block." + ], + "unseen": [ + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode38.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..d75221a7bd8a9458fc7b8978db117bd3761fc04e --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Move red block and green block to the center, then stack green block above red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Shift red block to the center and place green block on top.", + "the right arm moves red block to the center, the left arm stacks green block onto red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode39.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..cc11953aff730072bee5043e9a2fb579953ccb02 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Put red block in the center, then add green block above it.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Put red block in the center, then add green block above it.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode4.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..44f3c475a08b34028dd09418f391a71f011c0bf5 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Put red block in the center, then add green block above it.", + "Use the right arm to move red block and the right arm to stack green block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm.", + "Pick up red block with the right arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to center red block, then stack green block with the right arm.", + "Move red block with the right arm, then stack green block on it using the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the right arm.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the right arm to move red block and the right arm to position green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the right arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the right arm, then stack green block with the right arm on top.", + "Relocate red block to the middle and place green block on it.", + "Put red block in the center, then add green block above it.", + "Use the right arm to move red block and the right arm to stack green block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, using the right arm and the right arm, and stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Use the right arm to move red block, then the right arm to stack green block on red block at the center.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "the right arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the right arm." + ], + "unseen": [ + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the right arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode40.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..270a02144f5281409d271ae42dfafa5c8b4883a6 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block to the middle and place green block on it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Shift red block and green block to the center, then position green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block to the middle and place green block on it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode41.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..d0ac2298a2ad09fc18107e749daaebb7d902083e --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block.", + "Put red block in the center, then add green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block at the center and stack green block above it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block.", + "Put red block in the center, then add green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Position red block and green block at the center, then stack green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Position red block at the center and stack green block above it.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center and stack green block on red block." + ], + "unseen": [ + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode42.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..845c2ddaa5cbde269489bd968fa3fe1815b218e3 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block to the center and place green block on top.", + "Put red block in the center, then add green block above it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block centrally, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block to the middle and place green block on it.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block to the center and place green block on top.", + "Put red block in the center, then add green block above it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Set red block in the center, then position green block on top of it.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to move red block and the right arm to stack green block." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode43.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..67992876df198ac1d4b0d8d82323106631cfea1d --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block to the middle and put green block on top of it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Bring red block to the center, then stack green block over it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Move red block to the middle and put green block on top of it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Shift red block and green block to the center and stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block to the center and place green block on top.", + "Position red block at the center and stack green block above it.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Put red block in the center, then add green block above it.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block." + ], + "unseen": [ + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode44.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..229175a4ef3efcf45a2d684e354d04c88e39c2c8 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block centrally, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Put red block in the center, then add green block above it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block centrally, then stack green block on red block.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block together at the center, then stack green block on top.", + "Set red block and green block at the center, stacking green block atop red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Use the left arm to move red block and the right arm to position green block.", + "Shift red block to the center and place green block on top.", + "Bring red block to the center, then stack green block over it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Position red block and green block at the center, then stack green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode45.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..d62183a00bd93344835337a965d034197129b302 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Place red block and green block together at the center, then stack green block on top.", + "Shift red block to the center and place green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block in the center, then position green block on top of it.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the left arm to move red block and the right arm to position green block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Put red block in the center, then add green block above it.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Position red block and green block at the center, then stack green block on red block.", + "Place red block and green block in the center, then stack green block above red block." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode46.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..609ba2735a747dc135260553a14461d22c3d9b47 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Bring red block to the center, then stack green block over it.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Position red block at the center and stack green block above it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Put red block in the center, then add green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Shift red block to the center and place green block on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Bring red block to the center, then stack green block over it.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Position red block at the center and stack green block above it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Shift red block and green block to the center, then position green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Put red block in the center, then add green block above it.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Shift red block to the center and place green block on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the center and stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Center red block and green block on the table and stack green block on top of red block." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode47.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..78a68c35bfd6d4acd8e02a10f735ecacd2ca3e76 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm to move red block and the left arm to position green block.", + "Put red block in the center, then add green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Shift red block to the center and place green block on top.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Position red block at the center and stack green block above it.", + "Use the right arm to move red block and the left arm to position green block.", + "Put red block in the center, then add green block above it.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Move red block to the middle and put green block on top of it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Move red block and green block to the center and place green block atop red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode48.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..89a67dc7543455ebcfc872461d3637afeab34950 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to move red block and the left arm to stack green block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Set red block in the center, then position green block on top of it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block and green block centrally, then stack green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Shift red block and green block to the center and stack green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Set red block and green block at the center, stacking green block atop red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Use the right arm to move red block and the left arm to stack green block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Position red block at the center and stack green block above it.", + "Place red block and green block at the center and then put green block on red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Shift red block to the center and place green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "Relocate red block to the middle and place green block on it.", + "Bring red block to the center, then stack green block over it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Put red block in the center, then add green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it." + ], + "unseen": [ + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode49.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..26b1e3b9f9d1f6e266de805360352b857efca1ba --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block to the center and place green block on top.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Put red block in the center, then add green block above it.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Grab red block, set it in the center, then stack green block over it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block and green block at the center and then put green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block to the middle and put green block on top of it.", + "Place red block and green block centrally, then stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Position red block at the center and stack green block above it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Relocate red block to the middle and place green block on it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block." + ], + "unseen": [ + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Grab red block, place it at the center, then stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode5.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..e499e3978edbe61e789bc78870c733964d96018b --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Position red block at the center and stack green block above it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Use the right arm to move red block and the left arm to stack green block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block and green block centrally, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Position red block at the center and stack green block above it.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Use the right arm to move red block and the left arm to stack green block.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Place red block and green block centrally, then stack green block on red block.", + "Bring red block to the center, then stack green block over it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Put red block in the center, then add green block above it.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Set red block in the center, then position green block on top of it.", + "Use the right arm to move red block and the left arm to position green block.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Move red block to the middle and put green block on top of it.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Relocate red block to the middle and place green block on it.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Place red block and green block at the center and then put green block on red block.", + "Shift red block to the center and place green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to place red block in the center; stack green block on it with the left arm." + ], + "unseen": [ + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode6.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd6d6c27c7fc9a4158385fb1a1aad9a50a2429e --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block to the middle and put green block on top of it.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Place red block and green block at the center and then put green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center.", + "Shift red block to the center and place green block on top.", + "Place red block and green block at the center and then put green block on red block.", + "the right arm takes red block, sets it in the center, the left arm places green block on red block.", + "Pick up red block with the right arm and green block with the left arm, move both to the table's center and stack green block over red block.", + "the right arm relocates red block and the left arm moves green block, then stacks green block on red block.", + "Use the right arm to move red block and the left arm to stack green block.", + "Place red block and green block in the center, then stack green block above red block.", + "Utilize the right arm to grab red block and the left arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Position red block at the center and stack green block above it.", + "Bring red block to the center, then stack green block over it.", + "Put red block in the center, then add green block above it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the right arm to center red block, then stack green block with the left arm.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Move red block to the center using the right arm, then stack green block on red block using the left arm.", + "the right arm moves red block to the center, the left arm stacks green block onto red block.", + "Use the right arm to place red block in the center; stack green block on it with the left arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block using the right arm, position it at the center, and do the same for green block using the left arm, stacking green block on red block.", + "the right arm grabs red block, places it in the center, the left arm stacks green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block with the right arm, then stack green block on it using the left arm.", + "Center red block using the right arm, then stack green block with the left arm on top.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Move red block and green block to the center, using the right arm and the left arm, and stack green block on top of red block.", + "Use the right arm to move red block and the left arm to position green block.", + "Move red block to the middle and put green block on top of it.", + "Set red block in the center, then position green block on top of it.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the right arm to move red block and the left arm to move green block to the center, then place green block onto red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Center red block and green block on the table and stack green block on top of red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the right arm for red block, place it in the center, then use the left arm to stack green block above red block.", + "Move red block and green block to the center, then stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the right arm to move red block, then the left arm to stack green block on red block at the center." + ], + "unseen": [ + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block to the center, then put green block on top.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Bring red block and green block to the center, then position green block above red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Use the right arm to move red block to the center, then set the left arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode7.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..05241c43244f57f584b83dd53ce8e290327db317 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block to the center and place green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block to the middle and put green block on top of it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Relocate red block to the middle and place green block on it.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Set red block and green block at the center, stacking green block atop red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Position red block at the center and stack green block above it.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Shift red block and green block to the center, then position green block on red block.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Shift red block to the center and place green block on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Bring red block to the center, then stack green block over it.", + "Move red block to the middle and put green block on top of it.", + "Center red block and green block on the table and stack green block on top of red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block centrally, then stack green block on red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Put red block in the center, then add green block above it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Place red block and green block in the center, then stack green block above red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Move red block and green block to the center, then stack green block above red block." + ], + "unseen": [ + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block to the center, then put green block on top.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode8.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..caee2e58ee55cd9078a5b76f2094672333f5f4cd --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block to the center and place green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Bring red block to the center, then stack green block over it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the center and stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Shift red block to the center and place green block on top.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Bring red block to the center, then stack green block over it.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Put red block in the center, then add green block above it.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Place red block and green block at the center and then put green block on red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "Place red block and green block in the center, then stack green block above red block.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Use the left arm to move red block and the right arm to stack green block.", + "Move red block to the middle and put green block on top of it.", + "Shift red block and green block to the center and stack green block on red block.", + "Position red block and green block at the center, then stack green block on red block.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Relocate red block to the middle and place green block on it.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "Grab red block, set it in the center, then stack green block over it.", + "Set red block and green block at the center, stacking green block atop red block.", + "Set red block in the center, then position green block on top of it.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Position red block at the center and stack green block above it.", + "Move red block and green block to the center, then stack green block above red block." + ], + "unseen": [ + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Place red block in the middle, then stack green block on it.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the center, then stack green block on it.", + "Move red block and green block to the center and place green block atop red block.", + "Grab red block, place it at the center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/instructions/episode9.json b/ori_data/stack_blocks_two/franka_clean/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..bb68fb684359afbdcf07afb5dbb4113f31b6998d --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Position red block at the center and stack green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm.", + "Use the left arm to move red block and the right arm to position green block.", + "Use the left arm to move red block, then the right arm to stack green block on red block at the center.", + "Position red block at the center and stack green block above it.", + "Place red block in the center, then move green block there and stack green block on red block.", + "Shift red block and green block to the center and stack green block on red block.", + "Set red block and green block at the center, stacking green block atop red block.", + "Relocate red block and green block to the center, then layer green block over red block.", + "Put red block in the center, then add green block above it.", + "Use the left arm to move red block and the right arm to stack green block.", + "Shift red block to the center and place green block on top.", + "Position red block and green block at the center, then stack green block on red block.", + "Move red block to the center using the left arm, then stack green block on red block using the right arm.", + "Pick up red block with the left arm and green block with the right arm, move both to the table's center and stack green block over red block.", + "Set red block in the center, then position green block on top of it.", + "Move red block and green block to the center, then stack green block above red block.", + "the left arm grabs red block, places it in the center, the right arm stacks green block on red block.", + "Grab red block using the left arm, position it at the center, and do the same for green block using the right arm, stacking green block on red block.", + "Use the left arm to center red block, then stack green block with the right arm.", + "Pick up red block and green block, set them at the center, then position green block above red block.", + "Place red block and green block centrally, then stack green block on red block.", + "Relocate red block and green block to the table's midpoint, and stack green block on top of red block.", + "Utilize the left arm to grab red block and the right arm to grab green block, move them to the middle, and stack green block above red block.", + "Move red block to the middle and put green block on top of it.", + "Center red block using the left arm, then stack green block with the right arm on top.", + "Bring red block to the center, then stack green block over it.", + "Move red block and green block to the center, using the left arm and the right arm, and stack green block on top of red block.", + "Use the left arm for red block, place it in the center, then use the right arm to stack green block above red block.", + "the left arm relocates red block and the right arm moves green block, then stacks green block on red block.", + "Set red block at the center, then stack green block over red block after placing it alongside.", + "Set red block and green block at the table's center, then stack green block on red block.", + "Place red block and green block together at the center, then stack green block on top.", + "Grab red block, set it in the center, then stack green block over it.", + "Place red block and green block in the center, then stack green block above red block.", + "Shift red block and green block to the center, then position green block on red block.", + "Place red block and green block at the center and then put green block on red block.", + "Relocate red block to the middle and place green block on it.", + "Center red block and green block on the table and stack green block on top of red block.", + "the left arm moves red block to the center, the right arm stacks green block onto red block.", + "Use the left arm to move red block and the right arm to move green block to the center, then place green block onto red block.", + "Shift red block and green block to the middle, then stack green block over red block.", + "Move red block and green block to the center; stack green block on top of red block.", + "Use the left arm to place red block in the center; stack green block on it with the right arm.", + "the left arm takes red block, sets it in the center, the right arm places green block on red block.", + "Move red block with the left arm, then stack green block on it using the right arm." + ], + "unseen": [ + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block.", + "Grab red block, place it at the center, then stack green block on red block.", + "Place red block in the center, then stack green block on it.", + "Use the left arm to move red block to the center, then set the right arm and stack green block on red block.", + "Move red block and green block to the center and place green block atop red block.", + "Move red block and green block to the center, then stack green block on red block.", + "Move red block and green block to the table's center, then stack green block on red block.", + "Move red block to the center, then put green block on top.", + "Bring red block and green block to the center, then position green block above red block.", + "Place red block in the middle, then stack green block on it.", + "Take red block and green block, move them to the table's center, then stack green block on red block." + ] +} \ No newline at end of file diff --git a/ori_data/stack_blocks_two/franka_clean/scene_info.json b/ori_data/stack_blocks_two/franka_clean/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..1df88ad3f2881ab71985d9d5d34403a6b7660b38 --- /dev/null +++ b/ori_data/stack_blocks_two/franka_clean/scene_info.json @@ -0,0 +1,652 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_3": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_4": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "right" + } + }, + "episode_5": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_6": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_7": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_8": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_9": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_10": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "left" + } + }, + "episode_11": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_12": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "right" + } + }, + "episode_13": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_14": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "right", + "{b}": "left" + } + }, + "episode_15": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_16": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_17": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_18": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{a}": "left", + "{b}": "right" + } + }, + "episode_19": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + 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with curved sides to create the stack.", + "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.", + "Lift the curved bowl light blue shade, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the curved bowl light blue shade.", + "Use the right arm for the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food with the right arm.", + "Lift the blue bowl and position it neatly over the blue bowl with slightly rounded base.", + "Set down the rounded bowl with light blue color and drop the blue bowl with slightly rounded base on top.", + "Take the ceramic bowl, align the bowl with brown outer rim, and stack them.", + "Lift the glazed bowl with curved sides, position the glazed bowl with curved sides above it, and stack.", + "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the curved bowl light blue shade over it.", + "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl.", + "Pick up the blue bowl, place it down, then position the blue bowl on top.", + "Position the blue bowl with slightly rounded base with the arm, then set the bowl with shiny texture above it.", + "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.", + "Lift the curved bowl light blue shade, put it on the table, and stack the glazed bowl with curved sides above.", + "With the right arm, lift the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim using the right arm.", + "Grab the rounded bowl with light blue color, set it down, then place the blue bowl with slightly rounded base over it.", + "Pick up the ceramic bowl and set the bowl with brown outer rim on it.", + "Pick the curved bowl light blue shade, position the curved bowl light blue shade, and place it over the curved bowl light blue shade.", + "Grab the medium-sized bowl for holding food, position it, and place the medium-sized bowl for holding food on top.", + "Arrange the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Align the rounded bowl with light blue color and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the rounded bowl with light blue color.", + "the blue bowl goes at the bottom, the curved bowl light blue shade rests above.", + "Put the blue bowl with slightly rounded base first, then bring the bowl with shiny texture to stack above.", + "Position the ceramic bowl carefully on the ceramic bowl.", + "Lift the ceramic bowl, then stack it on the curved bowl light blue shade.", + "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.", + "Place the ceramic bowl down, then set the medium-sized bowl for holding food above it.", + "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base on top of the bowl with shiny texture.", + "Lift the blue bowl using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.", + "Align the small bowl with brown edge over the blue bowl with slightly rounded base, then complete the stack.", + "Grab the ceramic bowl, then stack the small bowl with brown edge on top.", + "Take the blue bowl, place the blue bowl with slightly rounded base above, and let go.", + "Lift the blue bowl with slightly rounded base, stack it precisely on top of the bowl with shiny texture.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the ceramic bowl using the right arm.", + "Position the ceramic bowl, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl.", + "Take the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base on top.", + "Place the dark inside bowl light blue outside down and stack the ceramic bowl with earthy brown trim on top.", + "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.", + "Stack the dark inside bowl light blue outside carefully over the glazed bowl with curved sides.", + "Position the rounded bowl with light blue color and stack the dark inside bowl light blue outside securely onto it.", + "Pick the bowl with shiny texture, then stack the ceramic bowl on it.", + "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.", + "Grab the rounded bowl with light blue color with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.", + "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.", + "Place the glazed bowl with curved sides on the surface, then stack the glazed bowl with curved sides above it.", + "Hold the rounded bowl with light blue color steady and slide the dark inside bowl light blue outside on.", + "Pick up the bowl with shiny texture, grab the bowl with shiny texture, and stack the bowl with shiny texture on the bowl with shiny texture.", + "Set the blue bowl with slightly rounded base over the bowl with brown outer rim to create the stack.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the small bowl with brown edge on top.", + "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.", + "Use the right arm for the ceramic bowl, place it, and stack the bowl with brown outer rim with the right arm.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the medium-sized bowl for holding food.", + "Set down the medium-sized bowl for holding food and drop the curved bowl light blue shade on top.", + "Take the glazed bowl with curved sides, align the medium-sized bowl for holding food, and stack them.", + "Lift the blue bowl with slightly rounded base, position the bowl with shiny texture above it, and stack.", + "Take the small bowl with brown edge, position it, then stack the blue bowl with slightly rounded base directly above.", + "Pick the blue bowl, position on the table, and place the curved bowl light blue shade over it.", + "Stack the bowl with shiny texture securely on top of the blue bowl with slightly rounded base.", + "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Position the dark inside bowl light blue outside with the arm, then set the small bowl with brown edge above it.", + "Grab the glazed bowl with curved sides, then carefully place the medium-sized bowl for holding food on top.", + "Lift the bowl with shiny texture, put it on the table, and stack the small bowl with brown edge above.", + "With the right arm, lift the ceramic bowl and stack the medium-sized bowl for holding food using the right arm.", + "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl with earthy brown trim over it.", + "Pick up the curved bowl light blue shade and set the bowl with brown outer rim on it.", + "Pick the dark inside bowl light blue outside, position the ceramic bowl, and place it over the dark inside bowl light blue outside.", + "Grab the blue bowl, position it, and place the ceramic bowl with earthy brown trim on top.", + "Arrange the curved bowl light blue shade, lift the curved bowl light blue shade with the arm, and stack them.", + "Align the dark inside bowl light blue outside and the ceramic bowl, then stack the ceramic bowl on the dark inside bowl light blue outside.", + "the medium-sized bowl for holding food goes at the bottom, the ceramic bowl rests above.", + "Put the bowl with brown outer rim first, then bring the bowl with brown outer rim to stack above.", + "Position the dark inside bowl light blue outside carefully on the ceramic bowl with earthy brown trim.", + "Lift the small bowl with brown edge, then stack it on the bowl with shiny texture.", + "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl.", + "Place the ceramic bowl down, then set the glazed bowl with curved sides above it.", + "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge on top of the dark inside bowl light blue outside.", + "Lift the ceramic bowl using the right arm, set it down, and stack the ceramic bowl using the right arm.", + "Align the blue bowl over the bowl with shiny texture, then complete the stack.", + "Grab the bowl with brown outer rim, then stack the blue bowl on top.", + "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the bowl with shiny texture.", + "Pick up the glazed bowl with curved sides using the right arm, then stack the small bowl with brown edge using the right arm.", + "Position the blue bowl with slightly rounded base, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl with slightly rounded base.", + "Take the ceramic bowl, place it, and stack the bowl with shiny texture on top.", + "Place the curved bowl light blue shade down and stack the bowl with brown outer rim on top.", + "Grab the curved bowl light blue shade, lift it up, position the blue bowl with slightly rounded base, and stack them.", + "Stack the curved bowl light blue shade carefully over the blue bowl.", + "Position the rounded bowl with light blue color and stack the medium-sized bowl for holding food securely onto it.", + "Pick the small bowl with brown edge, then stack the blue bowl with slightly rounded base on it.", + "Set the bowl with brown outer rim down, then add the rounded bowl with light blue color over it.", + "Grab the glazed bowl with curved sides with the right arm, place it, and stack the blue bowl with slightly rounded base with the right arm.", + "Hold the blue bowl and stack the blue bowl neatly atop.", + "Place the small bowl with brown edge on the surface, then stack the rounded bowl with light blue color above it." + ], + "unseen": [ + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode1.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..84871ad9fd5cc1b610531b1a903e4a02c2df553a --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the medium-sized bowl for holding food, position on the table, and place the rounded bowl with light blue color over it.", + "Place the ceramic bowl down, then set the bowl with brown outer rim above it.", + "Pick up the blue bowl with slightly rounded base, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl with slightly rounded base.", + "Pick the bowl with brown outer rim, then stack the blue bowl on it.", + "Use the right arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the left arm.", + "Grab the ceramic bowl, then carefully place the blue bowl on top.", + "Lift the bowl with brown outer rim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the bowl with brown outer rim.", + "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.", + "Set down the glazed bowl with curved sides and drop the blue bowl with slightly rounded base on top.", + "Lift the bowl with shiny texture, position the small bowl with brown edge above it, and stack.", + "Place the ceramic bowl with earthy brown trim down, then set the glazed bowl with curved sides on top of the ceramic bowl with earthy brown trim.", + "Align the bowl with shiny texture and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with shiny texture.", + "Position the blue bowl with slightly rounded base carefully on the dark inside bowl light blue outside.", + "Position the bowl with shiny texture and stack the small bowl with brown edge securely onto it.", + "Pick up the blue bowl and set the ceramic bowl with earthy brown trim on it.", + "Align the ceramic bowl over the dark inside bowl light blue outside, then complete the stack.", + "Put the curved bowl light blue shade first, then bring the ceramic bowl to stack above.", + "Grab the ceramic bowl with the right arm, place it, and stack the small bowl with brown edge with the left arm.", + "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.", + "Place the rounded bowl with light blue color on the surface, then stack the curved bowl light blue shade above it.", + "Use the arm to place the ceramic bowl, then stack the blue bowl with slightly rounded base on top.", + "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl on top.", + "Grab the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.", + "Take the dark inside bowl light blue outside, place the medium-sized bowl for holding food above, and let go.", + "Position the curved bowl light blue shade with the arm, then set the blue bowl above it.", + "the ceramic bowl with earthy brown trim goes at the bottom, the curved bowl light blue shade rests above.", + "Position the medium-sized bowl for holding food, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the medium-sized bowl for holding food.", + "Place the blue bowl with slightly rounded base down and stack the blue bowl on top.", + "Grab the small bowl with brown edge, position it, and place the blue bowl on top.", + "Grab the dark inside bowl light blue outside, set it down, then place the blue bowl with slightly rounded base over it.", + "Lift the small bowl with brown edge, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Hold the small bowl with brown edge and stack the medium-sized bowl for holding food neatly atop.", + "Pick up the glazed bowl with curved sides using the right arm, then stack the medium-sized bowl for holding food using the left arm.", + "Pick the bowl with shiny texture, position the small bowl with brown edge, and place it over the bowl with shiny texture.", + "Take the curved bowl light blue shade, place it, and stack the small bowl with brown edge on top.", + "Grab the small bowl with brown edge, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Hold the bowl with shiny texture steady and slide the ceramic bowl on.", + "Take the dark inside bowl light blue outside, align the medium-sized bowl for holding food, and stack them.", + "Arrange the curved bowl light blue shade, lift the glazed bowl with curved sides with the arm, and stack them.", + "Stack the bowl with brown outer rim carefully over the dark inside bowl light blue outside.", + "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.", + "With the right arm, lift the blue bowl and stack the ceramic bowl using the left arm.", + "Set the blue bowl with slightly rounded base over the rounded bowl with light blue color to create the stack.", + "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.", + "Pick up the ceramic bowl, place it down, then position the bowl with brown outer rim on top.", + "Stack the curved bowl light blue shade securely on top of the bowl with shiny texture.", + "Set the ceramic bowl down, then add the dark inside bowl light blue outside over it.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl.", + "Lift the bowl with shiny texture and position it neatly over the bowl with shiny texture.", + "Pick the blue bowl, position on the table, and place the ceramic bowl over it.", + "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.", + "Pick up the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the medium-sized bowl for holding food.", + "Pick the ceramic bowl, then stack the glazed bowl with curved sides on it.", + "Use the right arm for the small bowl with brown edge, place it, and stack the blue bowl with the left arm.", + "Grab the medium-sized bowl for holding food, then carefully place the bowl with brown outer rim on top.", + "Lift the rounded bowl with light blue color, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the rounded bowl with light blue color.", + "Take the bowl with shiny texture, position it, then stack the bowl with shiny texture directly above.", + "Set down the glazed bowl with curved sides and drop the dark inside bowl light blue outside on top.", + "Lift the dark inside bowl light blue outside, position the glazed bowl with curved sides above it, and stack.", + "Place the bowl with shiny texture down, then set the small bowl with brown edge on top of the bowl with shiny texture.", + "Align the bowl with brown outer rim and the blue bowl, then stack the blue bowl on the bowl with brown outer rim.", + "Position the blue bowl carefully on the medium-sized bowl for holding food.", + "Position the rounded bowl with light blue color and stack the blue bowl securely onto it.", + "Pick up the rounded bowl with light blue color and set the curved bowl light blue shade on it.", + "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.", + "Put the medium-sized bowl for holding food first, then bring the bowl with shiny texture to stack above.", + "Grab the ceramic bowl with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.", + "Place the bowl with shiny texture on the surface, then stack the bowl with shiny texture above it.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.", + "Lift the dark inside bowl light blue outside, lay it down, and stack the glazed bowl with curved sides on top.", + "Grab the bowl with shiny texture, then stack the glazed bowl with curved sides on top.", + "Take the dark inside bowl light blue outside, place the ceramic bowl with earthy brown trim above, and let go.", + "Position the rounded bowl with light blue color with the arm, then set the glazed bowl with curved sides above it.", + "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Position the curved bowl light blue shade, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the curved bowl light blue shade.", + "Place the ceramic bowl with earthy brown trim down and stack the bowl with shiny texture on top.", + "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.", + "Grab the rounded bowl with light blue color, set it down, then place the medium-sized bowl for holding food over it.", + "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with shiny texture.", + "Hold the bowl with shiny texture and stack the rounded bowl with light blue color neatly atop.", + "Pick up the bowl with brown outer rim using the right arm, then stack the glazed bowl with curved sides using the left arm.", + "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.", + "Take the blue bowl, place it, and stack the curved bowl light blue shade on top.", + "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl with earthy brown trim, and stack them.", + "Hold the bowl with shiny texture steady and slide the bowl with shiny texture on.", + "Take the ceramic bowl, align the blue bowl, and stack them.", + "Arrange the rounded bowl with light blue color, lift the glazed bowl with curved sides with the arm, and stack them.", + "Stack the curved bowl light blue shade carefully over the medium-sized bowl for holding food.", + "Lift the curved bowl light blue shade using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.", + "With the right arm, lift the rounded bowl with light blue color and stack the glazed bowl with curved sides using the left arm.", + "Set the ceramic bowl over the blue bowl to create the stack.", + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the curved bowl light blue shade above.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Stack the curved bowl light blue shade securely on top of the medium-sized bowl for holding food.", + "Set the curved bowl light blue shade down, then add the ceramic bowl with earthy brown trim over it.", + "Grasp the blue bowl, then use the arm to align and stack the medium-sized bowl for holding food.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the blue bowl with slightly rounded base.", + "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl over it.", + "Place the curved bowl light blue shade down, then set the curved bowl light blue shade above it." + ], + "unseen": [ + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode10.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..818f5dd886dabdfd9bffb1ba881f6b68ec148fc4 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the dark inside bowl light blue outside over the ceramic bowl to create the stack.", + "With the left arm, lift the medium-sized bowl for holding food and stack the glazed bowl with curved sides using the left arm.", + "Take the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture on top.", + "Pick the dark inside bowl light blue outside, position on the table, and place the curved bowl light blue shade over it.", + "Lift the ceramic bowl and position it neatly over the blue bowl with slightly rounded base.", + "Grab the ceramic bowl with earthy brown trim, then carefully place the dark inside bowl light blue outside on top.", + "Place the blue bowl with slightly rounded base down and stack the blue bowl with slightly rounded base on top.", + "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.", + "Take the glazed bowl with curved sides, align the rounded bowl with light blue color, and stack them.", + "Lift the ceramic bowl, position the ceramic bowl with earthy brown trim above it, and stack.", + "Pick the medium-sized bowl for holding food, then stack the bowl with shiny texture on it.", + "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.", + "Grab the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.", + "Position the rounded bowl with light blue color, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the rounded bowl with light blue color.", + "Set down the dark inside bowl light blue outside and drop the rounded bowl with light blue color on top.", + "Position the glazed bowl with curved sides with the arm, then set the small bowl with brown edge above it.", + "Hold the small bowl with brown edge steady and slide the blue bowl with slightly rounded base on.", + "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the glazed bowl with curved sides using the left arm.", + "Use the left arm for the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.", + "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.", + "Align the bowl with brown outer rim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with brown outer rim.", + "Grab the medium-sized bowl for holding food, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Align the blue bowl over the glazed bowl with curved sides, then complete the stack.", + "Lift the small bowl with brown edge, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the small bowl with brown edge.", + "Pick up the blue bowl, place it down, then position the glazed bowl with curved sides on top.", + "Lift the glazed bowl with curved sides, put it on the table, and stack the dark inside bowl light blue outside above.", + "Take the ceramic bowl, position it, then stack the ceramic bowl directly above.", + "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.", + "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl on top.", + "Grasp the bowl with shiny texture, then use the arm to align and stack the dark inside bowl light blue outside.", + "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl neatly atop.", + "Stack the bowl with brown outer rim securely on top of the medium-sized bowl for holding food.", + "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside on top of the ceramic bowl with earthy brown trim.", + "Pick up the bowl with brown outer rim and set the small bowl with brown edge on it.", + "Set the bowl with shiny texture down, then add the ceramic bowl over it.", + "Place the medium-sized bowl for holding food down, then set the ceramic bowl above it.", + "Pick up the rounded bowl with light blue color using the left arm, then stack the blue bowl using the left arm.", + "Grab the ceramic bowl with the left arm, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Put the rounded bowl with light blue color first, then bring the blue bowl with slightly rounded base to stack above.", + "Take the blue bowl, place the bowl with shiny texture above, and let go.", + "Position the bowl with brown outer rim carefully on the rounded bowl with light blue color.", + "Stack the rounded bowl with light blue color carefully over the glazed bowl with curved sides.", + "the blue bowl with slightly rounded base goes at the bottom, the blue bowl rests above.", + "Lift the glazed bowl with curved sides, stack it precisely on top of the bowl with shiny texture.", + "Lift the rounded bowl with light blue color, lay it down, and stack the blue bowl on top.", + "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the curved bowl light blue shade over it.", + "Place the blue bowl on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Set the small bowl with brown edge over the blue bowl to create the stack.", + "With the left arm, lift the rounded bowl with light blue color and stack the bowl with brown outer rim using the left arm.", + "Take the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food on top.", + "Pick the dark inside bowl light blue outside, position on the table, and place the medium-sized bowl for holding food over it.", + "Lift the bowl with shiny texture and position it neatly over the ceramic bowl with earthy brown trim.", + "Grab the blue bowl with slightly rounded base, then carefully place the ceramic bowl on top.", + "Place the ceramic bowl with earthy brown trim down and stack the curved bowl light blue shade on top.", + "Pick the rounded bowl with light blue color, position the blue bowl, and place it over the rounded bowl with light blue color.", + "Take the blue bowl with slightly rounded base, align the bowl with shiny texture, and stack them.", + "Lift the small bowl with brown edge, position the curved bowl light blue shade above it, and stack.", + "Pick the dark inside bowl light blue outside, then stack the curved bowl light blue shade on it.", + "Lift the glazed bowl with curved sides, then stack it on the blue bowl with slightly rounded base.", + "Grab the rounded bowl with light blue color, then stack the ceramic bowl on top.", + "Position the small bowl with brown edge, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the small bowl with brown edge.", + "Set down the dark inside bowl light blue outside and drop the bowl with brown outer rim on top.", + "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Hold the glazed bowl with curved sides steady and slide the curved bowl light blue shade on.", + "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.", + "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color with the left arm.", + "Arrange the dark inside bowl light blue outside, lift the blue bowl with the arm, and stack them.", + "Use the arm to place the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.", + "Align the glazed bowl with curved sides and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the glazed bowl with curved sides.", + "Grab the medium-sized bowl for holding food, lift it up, position the bowl with brown outer rim, and stack them.", + "Align the blue bowl with slightly rounded base over the bowl with brown outer rim, then complete the stack.", + "Lift the blue bowl with slightly rounded base, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl with slightly rounded base.", + "Pick up the dark inside bowl light blue outside, place it down, then position the rounded bowl with light blue color on top.", + "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.", + "Take the glazed bowl with curved sides, position it, then stack the rounded bowl with light blue color directly above.", + "Pick up the glazed bowl with curved sides, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the glazed bowl with curved sides.", + "Grab the blue bowl with slightly rounded base, position it, and place the bowl with brown outer rim on top.", + "Grasp the blue bowl, then use the arm to align and stack the ceramic bowl.", + "Hold the glazed bowl with curved sides and stack the small bowl with brown edge neatly atop.", + "Stack the ceramic bowl securely on top of the blue bowl.", + "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside on top of the bowl with shiny texture.", + "Pick up the blue bowl and set the medium-sized bowl for holding food on it.", + "Set the small bowl with brown edge down, then add the blue bowl with slightly rounded base over it.", + "Place the dark inside bowl light blue outside down, then set the blue bowl above it.", + "Pick up the blue bowl using the left arm, then stack the blue bowl with slightly rounded base using the left arm.", + "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the bowl with brown outer rim with the left arm.", + "Put the blue bowl with slightly rounded base first, then bring the small bowl with brown edge to stack above.", + "Take the glazed bowl with curved sides, place the ceramic bowl with earthy brown trim above, and let go.", + "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.", + "Stack the ceramic bowl with earthy brown trim carefully over the medium-sized bowl for holding food.", + "the glazed bowl with curved sides goes at the bottom, the rounded bowl with light blue color rests above.", + "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl with slightly rounded base.", + "Lift the ceramic bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Position the rounded bowl with light blue color and stack the small bowl with brown edge securely onto it.", + "Grab the curved bowl light blue shade, set it down, then place the small bowl with brown edge over it.", + "Place the blue bowl on the surface, then stack the blue bowl above it.", + "Set the ceramic bowl over the rounded bowl with light blue color to create the stack.", + "With the left arm, lift the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside using the left arm." + ], + "unseen": [ + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode11.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..63d72a0007fd171747dd847b9da53c88540f466e --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the blue bowl down, then set the ceramic bowl with earthy brown trim above it.", + "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside on top of the blue bowl with slightly rounded base.", + "With the right arm, lift the medium-sized bowl for holding food and stack the rounded bowl with light blue color using the left arm.", + "the small bowl with brown edge goes at the bottom, the blue bowl rests above.", + "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.", + "Arrange the bowl with brown outer rim, lift the ceramic bowl with the arm, and stack them.", + "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.", + "Hold the bowl with brown outer rim and stack the ceramic bowl neatly atop.", + "Lift the blue bowl, lay it down, and stack the ceramic bowl on top.", + "Pick up the ceramic bowl, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl.", + "Position the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food securely onto it.", + "Stack the small bowl with brown edge securely on top of the blue bowl with slightly rounded base.", + "Grab the blue bowl, set it down, then place the dark inside bowl light blue outside over it.", + "Pick the blue bowl, position the ceramic bowl, and place it over the blue bowl.", + "Pick up the rounded bowl with light blue color and set the small bowl with brown edge on it.", + "Position the medium-sized bowl for holding food carefully on the rounded bowl with light blue color.", + "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base on top.", + "Grab the small bowl with brown edge, then stack the bowl with shiny texture on top.", + "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.", + "Lift the ceramic bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the small bowl with brown edge using the left arm.", + "Take the curved bowl light blue shade, place the blue bowl above, and let go.", + "Grab the curved bowl light blue shade, lift it up, position the curved bowl light blue shade, and stack them.", + "Lift the rounded bowl with light blue color, position the rounded bowl with light blue color above it, and stack.", + "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.", + "Take the rounded bowl with light blue color, position it, then stack the medium-sized bowl for holding food directly above.", + "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl with slightly rounded base.", + "Set the ceramic bowl down, then add the ceramic bowl over it.", + "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.", + "Align the small bowl with brown edge over the bowl with shiny texture, then complete the stack.", + "Position the bowl with brown outer rim with the arm, then set the blue bowl above it.", + "Grab the small bowl with brown edge with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.", + "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl with earthy brown trim on top.", + "Grab the rounded bowl with light blue color, position it, and place the blue bowl with slightly rounded base on top.", + "Stack the bowl with shiny texture carefully over the bowl with brown outer rim.", + "Set the small bowl with brown edge over the small bowl with brown edge to create the stack.", + "Lift the ceramic bowl with earthy brown trim, then stack it on the glazed bowl with curved sides.", + "Align the blue bowl and the curved bowl light blue shade, then stack the curved bowl light blue shade on the blue bowl.", + "Place the dark inside bowl light blue outside down and stack the bowl with brown outer rim on top.", + "Hold the curved bowl light blue shade steady and slide the ceramic bowl on.", + "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl with slightly rounded base.", + "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Position the glazed bowl with curved sides, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.", + "Set down the blue bowl and drop the ceramic bowl on top.", + "Pick the bowl with brown outer rim, position on the table, and place the small bowl with brown edge over it.", + "Take the ceramic bowl, align the bowl with brown outer rim, and stack them.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl above.", + "Use the right arm for the ceramic bowl, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Pick the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on it.", + "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim above it.", + "Place the glazed bowl with curved sides down, then set the blue bowl on top of the glazed bowl with curved sides.", + "With the right arm, lift the bowl with brown outer rim and stack the ceramic bowl using the left arm.", + "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above.", + "Lift the blue bowl and position it neatly over the medium-sized bowl for holding food.", + "Arrange the bowl with brown outer rim, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Put the ceramic bowl first, then bring the curved bowl light blue shade to stack above.", + "Hold the blue bowl with slightly rounded base and stack the blue bowl neatly atop.", + "Lift the blue bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Pick up the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.", + "Position the medium-sized bowl for holding food and stack the glazed bowl with curved sides securely onto it.", + "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.", + "Grab the bowl with shiny texture, set it down, then place the glazed bowl with curved sides over it.", + "Pick the glazed bowl with curved sides, position the medium-sized bowl for holding food, and place it over the glazed bowl with curved sides.", + "Pick up the rounded bowl with light blue color and set the ceramic bowl on it.", + "Position the bowl with brown outer rim carefully on the ceramic bowl.", + "Take the bowl with shiny texture, place it, and stack the ceramic bowl on top.", + "Grab the small bowl with brown edge, then stack the ceramic bowl on top.", + "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.", + "Lift the glazed bowl with curved sides, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the glazed bowl with curved sides.", + "Pick up the bowl with shiny texture using the right arm, then stack the blue bowl with slightly rounded base using the left arm.", + "Take the dark inside bowl light blue outside, place the bowl with shiny texture above, and let go.", + "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Lift the blue bowl, position the rounded bowl with light blue color above it, and stack.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl on top.", + "Take the medium-sized bowl for holding food, position it, then stack the dark inside bowl light blue outside directly above.", + "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with shiny texture.", + "Set the dark inside bowl light blue outside down, then add the blue bowl over it.", + "Place the blue bowl on the surface, then stack the curved bowl light blue shade above it.", + "Align the ceramic bowl with earthy brown trim over the glazed bowl with curved sides, then complete the stack.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the curved bowl light blue shade above it.", + "Grab the blue bowl with the right arm, place it, and stack the small bowl with brown edge with the left arm.", + "Grab the dark inside bowl light blue outside, then carefully place the dark inside bowl light blue outside on top.", + "Grab the ceramic bowl, position it, and place the blue bowl with slightly rounded base on top.", + "Stack the blue bowl with slightly rounded base carefully over the blue bowl with slightly rounded base.", + "Set the dark inside bowl light blue outside over the curved bowl light blue shade to create the stack.", + "Lift the dark inside bowl light blue outside, then stack it on the bowl with shiny texture.", + "Align the ceramic bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the ceramic bowl.", + "Place the medium-sized bowl for holding food down and stack the medium-sized bowl for holding food on top.", + "Hold the ceramic bowl steady and slide the ceramic bowl with earthy brown trim on.", + "Lift the bowl with brown outer rim, stack it precisely on top of the dark inside bowl light blue outside.", + "Lift the blue bowl using the right arm, set it down, and stack the blue bowl using the left arm.", + "Position the glazed bowl with curved sides, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.", + "Set down the blue bowl and drop the blue bowl with slightly rounded base on top.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with brown outer rim over it.", + "Take the bowl with shiny texture, align the ceramic bowl with earthy brown trim, and stack them.", + "Lift the blue bowl, put it on the table, and stack the ceramic bowl above.", + "Use the right arm for the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture with the left arm.", + "Pick the small bowl with brown edge, then stack the blue bowl on it.", + "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside above it.", + "Place the blue bowl down, then set the ceramic bowl on top of the blue bowl." + ], + "unseen": [ + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode12.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..a3b59b752f6a2862cc67d641b12a020d0d249d10 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange the bowl with shiny texture, lift the ceramic bowl with earthy brown trim with the arm, and stack them.", + "Lift the medium-sized bowl for holding food, position the ceramic bowl above it, and stack.", + "Lift the glazed bowl with curved sides, put it on the table, and stack the dark inside bowl light blue outside above.", + "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.", + "Hold the blue bowl steady and slide the ceramic bowl on.", + "Set the medium-sized bowl for holding food over the bowl with brown outer rim to create the stack.", + "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge on top of the blue bowl with slightly rounded base.", + "Lift the dark inside bowl light blue outside, grab the ceramic bowl, and set the ceramic bowl on the dark inside bowl light blue outside.", + "Take the medium-sized bowl for holding food, place the blue bowl with slightly rounded base above, and let go.", + "Grab the bowl with brown outer rim, set it down, then place the bowl with shiny texture over it.", + "Pick the dark inside bowl light blue outside, position the rounded bowl with light blue color, and place it over the dark inside bowl light blue outside.", + "Set the blue bowl with slightly rounded base down, then add the ceramic bowl with earthy brown trim over it.", + "Grab the glazed bowl with curved sides with the right arm, place it, and stack the blue bowl with the left arm.", + "Put the small bowl with brown edge first, then bring the ceramic bowl with earthy brown trim to stack above.", + "Stack the bowl with brown outer rim carefully over the blue bowl.", + "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl with earthy brown trim, and stack them.", + "Place the curved bowl light blue shade down and stack the medium-sized bowl for holding food on top.", + "Position the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.", + "Lift the glazed bowl with curved sides, lay it down, and stack the blue bowl with slightly rounded base on top.", + "Use the right arm for the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture with the left arm.", + "Take the curved bowl light blue shade, place it, and stack the bowl with shiny texture on top.", + "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.", + "Position the ceramic bowl with earthy brown trim carefully on the small bowl with brown edge.", + "the bowl with shiny texture goes at the bottom, the blue bowl rests above.", + "Take the blue bowl with slightly rounded base, position it, then stack the curved bowl light blue shade directly above.", + "With the right arm, lift the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food using the left arm.", + "Stack the rounded bowl with light blue color securely on top of the ceramic bowl with earthy brown trim.", + "Align the medium-sized bowl for holding food over the small bowl with brown edge, then complete the stack.", + "Place the blue bowl down, then set the bowl with brown outer rim above it.", + "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Grab the ceramic bowl, then carefully place the glazed bowl with curved sides on top.", + "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with shiny texture using the left arm.", + "Lift the curved bowl light blue shade, then stack it on the ceramic bowl with earthy brown trim.", + "Grab the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.", + "Place the curved bowl light blue shade on the surface, then stack the curved bowl light blue shade above it.", + "Lift the blue bowl and position it neatly over the curved bowl light blue shade.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl with slightly rounded base.", + "Take the dark inside bowl light blue outside, align the rounded bowl with light blue color, and stack them.", + "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the small bowl with brown edge.", + "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.", + "Position the bowl with brown outer rim with the arm, then set the ceramic bowl above it.", + "Align the rounded bowl with light blue color and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.", + "Pick the bowl with shiny texture, then stack the blue bowl with slightly rounded base on it.", + "Set down the bowl with shiny texture and drop the dark inside bowl light blue outside on top.", + "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl neatly atop.", + "Pick up the small bowl with brown edge, place it down, then position the glazed bowl with curved sides on top.", + "Position the bowl with shiny texture and stack the bowl with shiny texture securely onto it.", + "Pick the blue bowl, position on the table, and place the curved bowl light blue shade over it.", + "Grab the small bowl with brown edge, position it, and place the small bowl with brown edge on top.", + "Arrange the blue bowl, lift the curved bowl light blue shade with the arm, and stack them.", + "Lift the ceramic bowl, position the ceramic bowl above it, and stack.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the curved bowl light blue shade above.", + "Lift the bowl with brown outer rim using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.", + "Hold the ceramic bowl steady and slide the medium-sized bowl for holding food on.", + "Set the rounded bowl with light blue color over the ceramic bowl with earthy brown trim to create the stack.", + "Place the blue bowl down, then set the curved bowl light blue shade on top of the blue bowl.", + "Lift the blue bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl.", + "Take the small bowl with brown edge, place the dark inside bowl light blue outside above, and let go.", + "Grab the rounded bowl with light blue color, set it down, then place the blue bowl with slightly rounded base over it.", + "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.", + "Set the small bowl with brown edge down, then add the bowl with brown outer rim over it.", + "Grab the blue bowl with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.", + "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.", + "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.", + "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl, and stack them.", + "Place the rounded bowl with light blue color down and stack the glazed bowl with curved sides on top.", + "Position the rounded bowl with light blue color, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the rounded bowl with light blue color.", + "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with shiny texture on top.", + "Use the right arm for the dark inside bowl light blue outside, place it, and stack the curved bowl light blue shade with the left arm.", + "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl on top.", + "Pick up the glazed bowl with curved sides and set the curved bowl light blue shade on it.", + "Position the dark inside bowl light blue outside carefully on the blue bowl with slightly rounded base.", + "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Take the bowl with shiny texture, position it, then stack the rounded bowl with light blue color directly above.", + "With the right arm, lift the blue bowl and stack the medium-sized bowl for holding food using the left arm.", + "Stack the bowl with brown outer rim securely on top of the bowl with shiny texture.", + "Align the blue bowl with slightly rounded base over the medium-sized bowl for holding food, then complete the stack.", + "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food above it.", + "Pick up the bowl with shiny texture, grab the blue bowl, and stack the blue bowl on the bowl with shiny texture.", + "Grab the glazed bowl with curved sides, then carefully place the bowl with brown outer rim on top.", + "Pick up the ceramic bowl using the right arm, then stack the small bowl with brown edge using the left arm.", + "Lift the ceramic bowl, then stack it on the curved bowl light blue shade.", + "Grab the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.", + "Place the glazed bowl with curved sides on the surface, then stack the medium-sized bowl for holding food above it.", + "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl with earthy brown trim.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl.", + "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the bowl with shiny texture.", + "Use the arm to place the curved bowl light blue shade, then stack the blue bowl on top.", + "Position the curved bowl light blue shade with the arm, then set the ceramic bowl above it.", + "Align the bowl with brown outer rim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the bowl with brown outer rim.", + "Pick the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on it.", + "Set down the dark inside bowl light blue outside and drop the dark inside bowl light blue outside on top.", + "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.", + "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl with slightly rounded base on top.", + "Position the rounded bowl with light blue color and stack the ceramic bowl securely onto it.", + "Pick the medium-sized bowl for holding food, position on the table, and place the rounded bowl with light blue color over it.", + "Grab the medium-sized bowl for holding food, position it, and place the medium-sized bowl for holding food on top.", + "Arrange the curved bowl light blue shade, lift the bowl with brown outer rim with the arm, and stack them.", + "Lift the medium-sized bowl for holding food, position the small bowl with brown edge above it, and stack." + ], + "unseen": [ + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode13.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..f64fef1abc867116cb634cb55d05b5790c2cf7f6 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Align the blue bowl with slightly rounded base over the blue bowl, then complete the stack.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the rounded bowl with light blue color.", + "Lift the ceramic bowl with earthy brown trim, then stack it on the small bowl with brown edge.", + "Use the arm to place the ceramic bowl, then stack the ceramic bowl on top.", + "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade with the right arm.", + "Set the blue bowl over the ceramic bowl with earthy brown trim to create the stack.", + "Position the bowl with brown outer rim with the arm, then set the ceramic bowl above it.", + "Take the bowl with brown outer rim, align the bowl with shiny texture, and stack them.", + "Pick the small bowl with brown edge, then stack the glazed bowl with curved sides on it.", + "Lift the dark inside bowl light blue outside, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.", + "Align the glazed bowl with curved sides and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.", + "Stack the small bowl with brown edge carefully over the blue bowl with slightly rounded base.", + "Place the dark inside bowl light blue outside down, then set the ceramic bowl on top of the dark inside bowl light blue outside.", + "Lift the dark inside bowl light blue outside, position the ceramic bowl above it, and stack.", + "the ceramic bowl goes at the bottom, the bowl with brown outer rim rests above.", + "Pick the ceramic bowl with earthy brown trim, position the curved bowl light blue shade, and place it over the ceramic bowl with earthy brown trim.", + "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with brown outer rim over it.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the glazed bowl with curved sides.", + "Hold the small bowl with brown edge and stack the blue bowl with slightly rounded base neatly atop.", + "Grab the bowl with shiny texture, position it, and place the blue bowl on top.", + "Grab the bowl with shiny texture, set it down, then place the medium-sized bowl for holding food over it.", + "Position the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color securely onto it.", + "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.", + "Take the bowl with shiny texture, place the rounded bowl with light blue color above, and let go.", + "Arrange the ceramic bowl, lift the bowl with brown outer rim with the arm, and stack them.", + "Place the blue bowl with slightly rounded base down, then set the ceramic bowl above it.", + "Put the dark inside bowl light blue outside first, then bring the rounded bowl with light blue color to stack above.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with brown outer rim.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl above.", + "Position the dark inside bowl light blue outside, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the dark inside bowl light blue outside.", + "Position the medium-sized bowl for holding food carefully on the rounded bowl with light blue color.", + "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the medium-sized bowl for holding food using the right arm.", + "Lift the dark inside bowl light blue outside, lay it down, and stack the dark inside bowl light blue outside on top.", + "Grab the glazed bowl with curved sides with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.", + "Stack the ceramic bowl with earthy brown trim securely on top of the medium-sized bowl for holding food.", + "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl on top.", + "Pick up the blue bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the blue bowl.", + "Grab the curved bowl light blue shade, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Place the curved bowl light blue shade down and stack the ceramic bowl on top.", + "With the right arm, lift the glazed bowl with curved sides and stack the bowl with brown outer rim using the right arm.", + "Pick up the blue bowl, place it down, then position the ceramic bowl on top.", + "Grab the ceramic bowl, then stack the glazed bowl with curved sides on top.", + "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.", + "Take the ceramic bowl, position it, then stack the blue bowl directly above.", + "Grab the curved bowl light blue shade, then carefully place the glazed bowl with curved sides on top.", + "Set the ceramic bowl down, then add the bowl with shiny texture over it.", + "Take the dark inside bowl light blue outside, place it, and stack the curved bowl light blue shade on top.", + "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.", + "Align the curved bowl light blue shade over the medium-sized bowl for holding food, then complete the stack.", + "Grasp the bowl with brown outer rim, then use the arm to align and stack the curved bowl light blue shade.", + "Lift the dark inside bowl light blue outside, then stack it on the medium-sized bowl for holding food.", + "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.", + "Use the right arm for the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base with the right arm.", + "Set the ceramic bowl with earthy brown trim over the glazed bowl with curved sides to create the stack.", + "Position the curved bowl light blue shade with the arm, then set the medium-sized bowl for holding food above it.", + "Take the blue bowl with slightly rounded base, align the curved bowl light blue shade, and stack them.", + "Pick the blue bowl, then stack the bowl with brown outer rim on it.", + "Lift the ceramic bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl.", + "Align the glazed bowl with curved sides and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the glazed bowl with curved sides.", + "Stack the rounded bowl with light blue color carefully over the small bowl with brown edge.", + "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base on top of the blue bowl with slightly rounded base.", + "Lift the medium-sized bowl for holding food, position the ceramic bowl above it, and stack.", + "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.", + "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.", + "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl with slightly rounded base over it.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Hold the glazed bowl with curved sides and stack the bowl with shiny texture neatly atop.", + "Grab the blue bowl with slightly rounded base, position it, and place the blue bowl on top.", + "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.", + "Position the glazed bowl with curved sides and stack the rounded bowl with light blue color securely onto it.", + "Pick up the ceramic bowl and set the rounded bowl with light blue color on it.", + "Take the curved bowl light blue shade, place the bowl with brown outer rim above, and let go.", + "Arrange the dark inside bowl light blue outside, lift the medium-sized bowl for holding food with the arm, and stack them.", + "Place the medium-sized bowl for holding food down, then set the bowl with brown outer rim above it.", + "Put the bowl with shiny texture first, then bring the small bowl with brown edge to stack above.", + "Lift the rounded bowl with light blue color and position it neatly over the rounded bowl with light blue color.", + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.", + "Position the medium-sized bowl for holding food, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the medium-sized bowl for holding food.", + "Position the small bowl with brown edge carefully on the blue bowl with slightly rounded base.", + "Place the curved bowl light blue shade on the surface, then stack the bowl with shiny texture above it.", + "Pick up the dark inside bowl light blue outside using the right arm, then stack the glazed bowl with curved sides using the right arm.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.", + "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the bowl with brown outer rim with the right arm.", + "Stack the blue bowl with slightly rounded base securely on top of the rounded bowl with light blue color.", + "Set down the ceramic bowl and drop the curved bowl light blue shade on top.", + "Pick up the bowl with brown outer rim, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with brown outer rim.", + "Grab the small bowl with brown edge, lift it up, position the rounded bowl with light blue color, and stack them.", + "Place the rounded bowl with light blue color down and stack the blue bowl with slightly rounded base on top.", + "With the right arm, lift the bowl with shiny texture and stack the curved bowl light blue shade using the right arm.", + "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.", + "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.", + "Lift the curved bowl light blue shade using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.", + "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.", + "Grab the ceramic bowl with earthy brown trim, then carefully place the curved bowl light blue shade on top.", + "Set the rounded bowl with light blue color down, then add the rounded bowl with light blue color over it.", + "Take the bowl with shiny texture, place it, and stack the bowl with brown outer rim on top.", + "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.", + "Align the rounded bowl with light blue color over the curved bowl light blue shade, then complete the stack.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the rounded bowl with light blue color." + ], + "unseen": [ + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode14.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..1af7edd6b3222ac8079fcaaeed6e11e56c4d34fb --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put the small bowl with brown edge first, then bring the small bowl with brown edge to stack above.", + "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with brown outer rim on top.", + "Place the curved bowl light blue shade down and stack the blue bowl on top.", + "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color above it.", + "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl.", + "Lift the bowl with brown outer rim, stack it precisely on top of the small bowl with brown edge.", + "Position the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim securely onto it.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the small bowl with brown edge over it.", + "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.", + "Position the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.", + "Take the rounded bowl with light blue color, place the ceramic bowl above, and let go.", + "Take the curved bowl light blue shade, place it, and stack the small bowl with brown edge on top.", + "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.", + "Lift the bowl with shiny texture, lay it down, and stack the bowl with brown outer rim on top.", + "Take the rounded bowl with light blue color, align the bowl with brown outer rim, and stack them.", + "Lift the blue bowl, position the dark inside bowl light blue outside above it, and stack.", + "Hold the bowl with shiny texture and stack the ceramic bowl with earthy brown trim neatly atop.", + "Grab the medium-sized bowl for holding food, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with shiny texture.", + "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.", + "Grab the dark inside bowl light blue outside, position it, and place the curved bowl light blue shade on top.", + "Arrange the medium-sized bowl for holding food, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Take the blue bowl with slightly rounded base, position it, then stack the medium-sized bowl for holding food directly above.", + "Lift the curved bowl light blue shade using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.", + "Align the bowl with shiny texture and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the bowl with shiny texture.", + "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.", + "Use the arm to place the bowl with shiny texture, then stack the bowl with shiny texture on top.", + "Pick up the ceramic bowl, place it down, then position the glazed bowl with curved sides on top.", + "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.", + "Use the left arm for the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Lift the rounded bowl with light blue color, put it on the table, and stack the rounded bowl with light blue color above.", + "Lift the ceramic bowl with earthy brown trim, then stack it on the small bowl with brown edge.", + "Pick up the curved bowl light blue shade using the left arm, then stack the blue bowl with slightly rounded base using the left arm.", + "Set down the small bowl with brown edge and drop the bowl with brown outer rim on top.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the rounded bowl with light blue color above it.", + "Pick up the medium-sized bowl for holding food, grab the bowl with shiny texture, and stack the bowl with shiny texture on the medium-sized bowl for holding food.", + "Pick the blue bowl, position the bowl with shiny texture, and place it over the blue bowl.", + "Position the curved bowl light blue shade with the arm, then set the medium-sized bowl for holding food above it.", + "Stack the rounded bowl with light blue color carefully over the glazed bowl with curved sides.", + "Lift the small bowl with brown edge, grab the small bowl with brown edge, and set the small bowl with brown edge on the small bowl with brown edge.", + "the curved bowl light blue shade goes at the bottom, the rounded bowl with light blue color rests above.", + "Stack the bowl with brown outer rim securely on top of the bowl with brown outer rim.", + "Hold the bowl with shiny texture steady and slide the blue bowl on.", + "Place the dark inside bowl light blue outside down, then set the blue bowl on top of the dark inside bowl light blue outside.", + "Align the ceramic bowl with earthy brown trim over the curved bowl light blue shade, then complete the stack.", + "With the left arm, lift the bowl with brown outer rim and stack the bowl with brown outer rim using the left arm.", + "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl over it.", + "Pick up the bowl with brown outer rim and set the small bowl with brown edge on it.", + "Grab the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.", + "Put the small bowl with brown edge first, then bring the dark inside bowl light blue outside to stack above.", + "Grab the ceramic bowl, then carefully place the ceramic bowl on top.", + "Place the blue bowl down and stack the small bowl with brown edge on top.", + "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside above it.", + "Lift the medium-sized bowl for holding food and position it neatly over the curved bowl light blue shade.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the glazed bowl with curved sides.", + "Position the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim securely onto it.", + "Pick the blue bowl, position on the table, and place the glazed bowl with curved sides over it.", + "Pick the bowl with shiny texture, then stack the blue bowl on it.", + "Position the curved bowl light blue shade, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the curved bowl light blue shade.", + "Take the glazed bowl with curved sides, place the glazed bowl with curved sides above, and let go.", + "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.", + "Grab the bowl with brown outer rim with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.", + "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Take the curved bowl light blue shade, align the small bowl with brown edge, and stack them.", + "Lift the medium-sized bowl for holding food, position the curved bowl light blue shade above it, and stack.", + "Hold the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim neatly atop.", + "Grab the glazed bowl with curved sides, lift it up, position the blue bowl with slightly rounded base, and stack them.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Position the dark inside bowl light blue outside carefully on the curved bowl light blue shade.", + "Grab the rounded bowl with light blue color, position it, and place the bowl with shiny texture on top.", + "Arrange the bowl with brown outer rim, lift the blue bowl with the arm, and stack them.", + "Take the blue bowl with slightly rounded base, position it, then stack the dark inside bowl light blue outside directly above.", + "Lift the curved bowl light blue shade using the left arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Align the blue bowl with slightly rounded base and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl with slightly rounded base.", + "Set the ceramic bowl down, then add the rounded bowl with light blue color over it.", + "Use the arm to place the small bowl with brown edge, then stack the curved bowl light blue shade on top.", + "Pick up the blue bowl, place it down, then position the dark inside bowl light blue outside on top.", + "Set the ceramic bowl over the rounded bowl with light blue color to create the stack.", + "Use the left arm for the curved bowl light blue shade, place it, and stack the bowl with brown outer rim with the left arm.", + "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.", + "Lift the blue bowl with slightly rounded base, then stack it on the rounded bowl with light blue color.", + "Pick up the blue bowl with slightly rounded base using the left arm, then stack the dark inside bowl light blue outside using the left arm.", + "Set down the small bowl with brown edge and drop the blue bowl on top.", + "Place the blue bowl on the surface, then stack the bowl with shiny texture above it.", + "Pick up the curved bowl light blue shade, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the curved bowl light blue shade.", + "Pick the glazed bowl with curved sides, position the ceramic bowl, and place it over the glazed bowl with curved sides.", + "Position the small bowl with brown edge with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Stack the rounded bowl with light blue color carefully over the bowl with shiny texture.", + "Lift the blue bowl with slightly rounded base, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl with slightly rounded base.", + "the blue bowl goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Stack the ceramic bowl securely on top of the bowl with shiny texture.", + "Hold the ceramic bowl with earthy brown trim steady and slide the small bowl with brown edge on.", + "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl with earthy brown trim.", + "Align the small bowl with brown edge over the medium-sized bowl for holding food, then complete the stack.", + "With the left arm, lift the bowl with brown outer rim and stack the ceramic bowl using the left arm.", + "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.", + "Pick up the medium-sized bowl for holding food and set the dark inside bowl light blue outside on it.", + "Grab the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.", + "Put the blue bowl with slightly rounded base first, then bring the rounded bowl with light blue color to stack above.", + "Grab the blue bowl, then carefully place the ceramic bowl on top." + ], + "unseen": [ + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode15.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..19e8ece196c841cffcb6d48380c51c7b4f1f7b1c --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Align the glazed bowl with curved sides over the ceramic bowl with earthy brown trim, then complete the stack.", + "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl above it.", + "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with brown outer rim using the left arm.", + "Hold the blue bowl with slightly rounded base steady and slide the glazed bowl with curved sides on.", + "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with shiny texture on top.", + "Stack the blue bowl with slightly rounded base securely on top of the ceramic bowl.", + "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl with earthy brown trim to stack above.", + "Pick the bowl with shiny texture, position the bowl with brown outer rim, and place it over the bowl with shiny texture.", + "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl above it.", + "Place the bowl with brown outer rim down, then set the blue bowl on top of the bowl with brown outer rim.", + "Take the dark inside bowl light blue outside, place the dark inside bowl light blue outside above, and let go.", + "Arrange the blue bowl, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Take the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Position the bowl with shiny texture, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the bowl with shiny texture.", + "Position the blue bowl and stack the medium-sized bowl for holding food securely onto it.", + "Set the blue bowl over the blue bowl with slightly rounded base to create the stack.", + "With the right arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the left arm.", + "Pick the dark inside bowl light blue outside, position on the table, and place the small bowl with brown edge over it.", + "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.", + "Pick the ceramic bowl, then stack the glazed bowl with curved sides on it.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the glazed bowl with curved sides.", + "Grab the blue bowl with slightly rounded base, set it down, then place the rounded bowl with light blue color over it.", + "Take the rounded bowl with light blue color, align the dark inside bowl light blue outside, and stack them.", + "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.", + "Set down the bowl with shiny texture and drop the medium-sized bowl for holding food on top.", + "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above.", + "Grab the dark inside bowl light blue outside, position it, and place the glazed bowl with curved sides on top.", + "Grab the small bowl with brown edge with the right arm, place it, and stack the ceramic bowl with the left arm.", + "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl on top.", + "Place the bowl with brown outer rim down and stack the glazed bowl with curved sides on top.", + "Place the curved bowl light blue shade down, then set the curved bowl light blue shade above it.", + "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.", + "Take the dark inside bowl light blue outside, position it, then stack the medium-sized bowl for holding food directly above.", + "Use the right arm for the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color with the left arm.", + "Stack the small bowl with brown edge carefully over the blue bowl with slightly rounded base.", + "Grab the small bowl with brown edge, then carefully place the blue bowl with slightly rounded base on top.", + "Pick up the bowl with brown outer rim, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with brown outer rim.", + "Lift the ceramic bowl, stack it precisely on top of the bowl with brown outer rim.", + "Position the bowl with brown outer rim carefully on the ceramic bowl.", + "Lift the blue bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl.", + "Grab the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on top.", + "Lift the rounded bowl with light blue color, position the rounded bowl with light blue color above it, and stack.", + "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.", + "Lift the small bowl with brown edge, put it on the table, and stack the curved bowl light blue shade above.", + "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.", + "Pick up the rounded bowl with light blue color, place it down, then position the dark inside bowl light blue outside on top.", + "Lift the medium-sized bowl for holding food, then stack it on the bowl with shiny texture.", + "Align the ceramic bowl and the blue bowl, then stack the blue bowl on the ceramic bowl.", + "Align the ceramic bowl over the bowl with brown outer rim, then complete the stack.", + "Position the bowl with brown outer rim with the arm, then set the medium-sized bowl for holding food above it.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the ceramic bowl using the left arm.", + "Hold the medium-sized bowl for holding food steady and slide the blue bowl on.", + "Lift the curved bowl light blue shade, lay it down, and stack the rounded bowl with light blue color on top.", + "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl.", + "Put the small bowl with brown edge first, then bring the bowl with shiny texture to stack above.", + "Pick the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim, and place it over the dark inside bowl light blue outside.", + "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.", + "Place the blue bowl down, then set the blue bowl with slightly rounded base on top of the blue bowl.", + "Take the curved bowl light blue shade, place the bowl with brown outer rim above, and let go.", + "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.", + "Take the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color on top.", + "Position the bowl with shiny texture, lift the ceramic bowl, and place the ceramic bowl on the bowl with shiny texture.", + "Position the bowl with brown outer rim and stack the blue bowl with slightly rounded base securely onto it.", + "Set the bowl with shiny texture over the ceramic bowl with earthy brown trim to create the stack.", + "With the right arm, lift the curved bowl light blue shade and stack the blue bowl using the left arm.", + "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.", + "Lift the blue bowl using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.", + "Pick the glazed bowl with curved sides, then stack the ceramic bowl on it.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the glazed bowl with curved sides.", + "Lift the blue bowl and position it neatly over the blue bowl with slightly rounded base.", + "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.", + "Take the blue bowl with slightly rounded base, align the dark inside bowl light blue outside, and stack them.", + "Pick up the dark inside bowl light blue outside and set the bowl with brown outer rim on it.", + "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.", + "the blue bowl goes at the bottom, the blue bowl rests above.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the ceramic bowl on top.", + "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.", + "Use the arm to place the bowl with brown outer rim, then stack the small bowl with brown edge on top.", + "Place the rounded bowl with light blue color down and stack the blue bowl with slightly rounded base on top.", + "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim above it.", + "Set the small bowl with brown edge down, then add the rounded bowl with light blue color over it.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the glazed bowl with curved sides directly above.", + "Use the right arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the left arm.", + "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl with earthy brown trim.", + "Grab the blue bowl, then carefully place the bowl with shiny texture on top.", + "Pick up the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the medium-sized bowl for holding food.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl.", + "Position the dark inside bowl light blue outside carefully on the ceramic bowl.", + "Lift the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the glazed bowl with curved sides.", + "Grab the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.", + "Lift the curved bowl light blue shade, position the dark inside bowl light blue outside above it, and stack.", + "Grab the dark inside bowl light blue outside, lift it up, position the small bowl with brown edge, and stack them.", + "Lift the bowl with shiny texture, put it on the table, and stack the ceramic bowl above.", + "Hold the curved bowl light blue shade and stack the blue bowl neatly atop.", + "Pick up the medium-sized bowl for holding food, place it down, then position the ceramic bowl on top.", + "Lift the glazed bowl with curved sides, then stack it on the small bowl with brown edge.", + "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Align the blue bowl over the medium-sized bowl for holding food, then complete the stack.", + "Position the dark inside bowl light blue outside with the arm, then set the blue bowl above it." + ], + "unseen": [ + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode16.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..c71564464ae218e3c19aaff4c7ae4c08d02c66ef --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the bowl with shiny texture above.", + "Grab the small bowl with brown edge, then carefully place the small bowl with brown edge on top.", + "Lift the curved bowl light blue shade, position the small bowl with brown edge above it, and stack.", + "Place the blue bowl down, then set the rounded bowl with light blue color on top of the blue bowl.", + "Lift the blue bowl with slightly rounded base, then stack it on the small bowl with brown edge.", + "Lift the glazed bowl with curved sides and position it neatly over the blue bowl with slightly rounded base.", + "Grasp the rounded bowl with light blue color, then use the arm to align and stack the small bowl with brown edge.", + "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.", + "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl with slightly rounded base on top.", + "Set the glazed bowl with curved sides down, then add the curved bowl light blue shade over it.", + "Take the bowl with brown outer rim, align the medium-sized bowl for holding food, and stack them.", + "Set down the ceramic bowl and drop the ceramic bowl with earthy brown trim on top.", + "Position the medium-sized bowl for holding food carefully on the rounded bowl with light blue color.", + "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.", + "the curved bowl light blue shade goes at the bottom, the ceramic bowl rests above.", + "Align the ceramic bowl over the dark inside bowl light blue outside, then complete the stack.", + "Put the bowl with brown outer rim first, then bring the medium-sized bowl for holding food to stack above.", + "Pick the bowl with brown outer rim, position on the table, and place the blue bowl with slightly rounded base over it.", + "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with brown outer rim on.", + "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.", + "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.", + "Pick up the bowl with shiny texture using the right arm, then stack the bowl with shiny texture using the left arm.", + "Align the rounded bowl with light blue color and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the rounded bowl with light blue color.", + "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the glazed bowl with curved sides above it.", + "Grab the ceramic bowl, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Set the dark inside bowl light blue outside over the bowl with brown outer rim to create the stack.", + "Grab the rounded bowl with light blue color, set it down, then place the bowl with brown outer rim over it.", + "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the glazed bowl with curved sides above it.", + "Grab the dark inside bowl light blue outside, then stack the ceramic bowl on top.", + "Take the blue bowl, place the curved bowl light blue shade above, and let go.", + "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.", + "Pick up the rounded bowl with light blue color and set the curved bowl light blue shade on it.", + "Stack the ceramic bowl carefully over the bowl with brown outer rim.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the rounded bowl with light blue color.", + "Pick the bowl with shiny texture, position the blue bowl with slightly rounded base, and place it over the bowl with shiny texture.", + "Use the right arm for the blue bowl, place it, and stack the small bowl with brown edge with the left arm.", + "Position the blue bowl with slightly rounded base and stack the glazed bowl with curved sides securely onto it.", + "Grab the bowl with shiny texture, position it, and place the dark inside bowl light blue outside on top.", + "Pick up the blue bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl.", + "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base above it.", + "Lift the small bowl with brown edge, grab the blue bowl, and set the blue bowl on the small bowl with brown edge.", + "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them.", + "Take the bowl with brown outer rim, position it, then stack the ceramic bowl directly above.", + "Stack the curved bowl light blue shade securely on top of the medium-sized bowl for holding food.", + "Position the blue bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the blue bowl.", + "With the right arm, lift the rounded bowl with light blue color and stack the blue bowl with slightly rounded base using the left arm.", + "Lift the ceramic bowl, put it on the table, and stack the curved bowl light blue shade above.", + "Grab the bowl with shiny texture, then carefully place the glazed bowl with curved sides on top.", + "Lift the bowl with shiny texture, position the ceramic bowl with earthy brown trim above it, and stack.", + "Place the rounded bowl with light blue color down, then set the small bowl with brown edge on top of the rounded bowl with light blue color.", + "Lift the blue bowl, then stack it on the small bowl with brown edge.", + "Lift the small bowl with brown edge and position it neatly over the medium-sized bowl for holding food.", + "Grasp the bowl with brown outer rim, then use the arm to align and stack the dark inside bowl light blue outside.", + "Hold the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base neatly atop.", + "Grab the bowl with brown outer rim with the right arm, place it, and stack the bowl with shiny texture with the left arm.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with brown outer rim on top.", + "Set the rounded bowl with light blue color down, then add the bowl with shiny texture over it.", + "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.", + "Set down the medium-sized bowl for holding food and drop the glazed bowl with curved sides on top.", + "Position the small bowl with brown edge carefully on the curved bowl light blue shade.", + "Use the arm to place the curved bowl light blue shade, then stack the bowl with brown outer rim on top.", + "the bowl with brown outer rim goes at the bottom, the curved bowl light blue shade rests above.", + "Align the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim, then complete the stack.", + "Put the blue bowl first, then bring the curved bowl light blue shade to stack above.", + "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.", + "Hold the curved bowl light blue shade steady and slide the curved bowl light blue shade on.", + "Place the bowl with brown outer rim down and stack the bowl with brown outer rim on top.", + "Take the ceramic bowl, place it, and stack the blue bowl on top.", + "Pick up the small bowl with brown edge using the right arm, then stack the blue bowl with slightly rounded base using the left arm.", + "Align the bowl with brown outer rim and the ceramic bowl, then stack the ceramic bowl on the bowl with brown outer rim.", + "Lift the ceramic bowl using the right arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Place the small bowl with brown edge on the surface, then stack the blue bowl above it.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the blue bowl with slightly rounded base, and stack them.", + "Set the glazed bowl with curved sides over the glazed bowl with curved sides to create the stack.", + "Grab the small bowl with brown edge, set it down, then place the curved bowl light blue shade over it.", + "Pick the bowl with shiny texture, then stack the glazed bowl with curved sides on it.", + "Position the bowl with brown outer rim with the arm, then set the ceramic bowl above it.", + "Grab the dark inside bowl light blue outside, then stack the blue bowl on top.", + "Take the ceramic bowl, place the small bowl with brown edge above, and let go.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Pick up the ceramic bowl with earthy brown trim and set the rounded bowl with light blue color on it.", + "Stack the curved bowl light blue shade carefully over the blue bowl with slightly rounded base.", + "Lift the blue bowl, stack it precisely on top of the bowl with shiny texture.", + "Pick the small bowl with brown edge, position the small bowl with brown edge, and place it over the small bowl with brown edge.", + "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with the left arm.", + "Position the ceramic bowl and stack the medium-sized bowl for holding food securely onto it.", + "Grab the bowl with shiny texture, position it, and place the rounded bowl with light blue color on top.", + "Pick up the dark inside bowl light blue outside, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the dark inside bowl light blue outside.", + "Place the dark inside bowl light blue outside down, then set the ceramic bowl above it.", + "Lift the dark inside bowl light blue outside, grab the blue bowl, and set the blue bowl on the dark inside bowl light blue outside.", + "Arrange the blue bowl, lift the blue bowl with the arm, and stack them.", + "Take the curved bowl light blue shade, position it, then stack the blue bowl directly above.", + "Stack the glazed bowl with curved sides securely on top of the bowl with shiny texture.", + "Position the curved bowl light blue shade, lift the ceramic bowl, and place the ceramic bowl on the curved bowl light blue shade.", + "With the right arm, lift the blue bowl with slightly rounded base and stack the rounded bowl with light blue color using the left arm.", + "Lift the medium-sized bowl for holding food, put it on the table, and stack the small bowl with brown edge above.", + "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl on top." + ], + "unseen": [ + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode17.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..af33d377cc7561dafa15155497323889df6cdca6 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Align the blue bowl over the dark inside bowl light blue outside, then complete the stack.", + "Use the left arm for the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food with the right arm.", + "Hold the blue bowl and stack the blue bowl with slightly rounded base neatly atop.", + "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Pick the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim, and place it over the blue bowl with slightly rounded base.", + "the bowl with shiny texture goes at the bottom, the small bowl with brown edge rests above.", + "Lift the rounded bowl with light blue color, lay it down, and stack the blue bowl with slightly rounded base on top.", + "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the curved bowl light blue shade.", + "Grab the curved bowl light blue shade, position it, and place the medium-sized bowl for holding food on top.", + "Place the medium-sized bowl for holding food on the surface, then stack the medium-sized bowl for holding food above it.", + "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the blue bowl with the right arm.", + "Lift the medium-sized bowl for holding food, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the medium-sized bowl for holding food.", + "Take the ceramic bowl, place it, and stack the bowl with brown outer rim on top.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the dark inside bowl light blue outside over it.", + "Grab the bowl with shiny texture, then stack the small bowl with brown edge on top.", + "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.", + "Take the curved bowl light blue shade, position it, then stack the ceramic bowl directly above.", + "Pick up the curved bowl light blue shade, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the curved bowl light blue shade.", + "Set the bowl with shiny texture down, then add the small bowl with brown edge over it.", + "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.", + "Grab the blue bowl with slightly rounded base, lift it up, position the curved bowl light blue shade, and stack them.", + "Arrange the rounded bowl with light blue color, lift the curved bowl light blue shade with the arm, and stack them.", + "Hold the small bowl with brown edge steady and slide the rounded bowl with light blue color on.", + "Position the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.", + "Lift the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim above it, and stack.", + "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture above it.", + "Pick the blue bowl with slightly rounded base, then stack the small bowl with brown edge on it.", + "Put the small bowl with brown edge first, then bring the rounded bowl with light blue color to stack above.", + "Pick up the glazed bowl with curved sides using the left arm, then stack the medium-sized bowl for holding food using the right arm.", + "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.", + "Lift the glazed bowl with curved sides and position it neatly over the dark inside bowl light blue outside.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the rounded bowl with light blue color over it.", + "Stack the blue bowl with slightly rounded base securely on top of the curved bowl light blue shade.", + "Align the curved bowl light blue shade and the small bowl with brown edge, then stack the small bowl with brown edge on the curved bowl light blue shade.", + "Position the medium-sized bowl for holding food with the arm, then set the blue bowl above it.", + "With the left arm, lift the bowl with shiny texture and stack the rounded bowl with light blue color using the right arm.", + "Position the blue bowl and stack the bowl with shiny texture securely onto it.", + "Place the medium-sized bowl for holding food down and stack the bowl with brown outer rim on top.", + "Pick up the small bowl with brown edge and set the glazed bowl with curved sides on it.", + "Lift the medium-sized bowl for holding food, then stack it on the bowl with shiny texture.", + "Take the small bowl with brown edge, place the curved bowl light blue shade above, and let go.", + "Set the ceramic bowl over the curved bowl light blue shade to create the stack.", + "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.", + "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.", + "Set down the glazed bowl with curved sides and drop the medium-sized bowl for holding food on top.", + "Grab the ceramic bowl, then carefully place the dark inside bowl light blue outside on top.", + "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.", + "Stack the medium-sized bowl for holding food carefully over the blue bowl.", + "Align the ceramic bowl over the bowl with brown outer rim, then complete the stack.", + "Use the left arm for the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Hold the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color neatly atop.", + "Pick up the small bowl with brown edge, place it down, then position the ceramic bowl on top.", + "Pick the bowl with shiny texture, position the dark inside bowl light blue outside, and place it over the bowl with shiny texture.", + "the ceramic bowl goes at the bottom, the rounded bowl with light blue color rests above.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl with slightly rounded base on top.", + "Place the glazed bowl with curved sides down, then set the bowl with shiny texture on top of the glazed bowl with curved sides.", + "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl with slightly rounded base.", + "Grab the rounded bowl with light blue color, position it, and place the dark inside bowl light blue outside on top.", + "Place the bowl with shiny texture on the surface, then stack the dark inside bowl light blue outside above it.", + "Grab the blue bowl with the left arm, place it, and stack the small bowl with brown edge with the right arm.", + "Lift the bowl with brown outer rim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Take the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food on top.", + "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.", + "Grab the ceramic bowl, then stack the blue bowl with slightly rounded base on top.", + "Use the arm to place the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.", + "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.", + "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.", + "Set the glazed bowl with curved sides down, then add the ceramic bowl over it.", + "Take the small bowl with brown edge, align the dark inside bowl light blue outside, and stack them.", + "Grab the glazed bowl with curved sides, lift it up, position the blue bowl with slightly rounded base, and stack them.", + "Arrange the bowl with brown outer rim, lift the ceramic bowl with the arm, and stack them.", + "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl with slightly rounded base on.", + "Position the curved bowl light blue shade, lift the blue bowl, and place the blue bowl on the curved bowl light blue shade.", + "Lift the small bowl with brown edge, position the ceramic bowl with earthy brown trim above it, and stack.", + "Place the blue bowl down, then set the curved bowl light blue shade above it.", + "Pick the bowl with brown outer rim, then stack the glazed bowl with curved sides on it.", + "Put the ceramic bowl first, then bring the bowl with shiny texture to stack above.", + "Pick up the curved bowl light blue shade using the left arm, then stack the bowl with brown outer rim using the right arm.", + "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with brown outer rim.", + "Lift the small bowl with brown edge and position it neatly over the rounded bowl with light blue color.", + "Pick the curved bowl light blue shade, position on the table, and place the small bowl with brown edge over it.", + "Stack the glazed bowl with curved sides securely on top of the glazed bowl with curved sides.", + "Align the glazed bowl with curved sides and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.", + "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl with earthy brown trim above it.", + "With the left arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl using the right arm.", + "Position the ceramic bowl and stack the blue bowl with slightly rounded base securely onto it.", + "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top.", + "Pick up the bowl with brown outer rim and set the bowl with shiny texture on it.", + "Lift the medium-sized bowl for holding food, then stack it on the medium-sized bowl for holding food.", + "Take the blue bowl, place the blue bowl with slightly rounded base above, and let go.", + "Set the ceramic bowl with earthy brown trim over the small bowl with brown edge to create the stack.", + "Lift the rounded bowl with light blue color, put it on the table, and stack the small bowl with brown edge above.", + "Position the blue bowl carefully on the blue bowl.", + "Set down the bowl with brown outer rim and drop the ceramic bowl with earthy brown trim on top.", + "Grab the bowl with shiny texture, then carefully place the blue bowl with slightly rounded base on top.", + "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.", + "Stack the dark inside bowl light blue outside carefully over the blue bowl.", + "Align the bowl with brown outer rim over the ceramic bowl, then complete the stack.", + "Use the left arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the right arm." + ], + "unseen": [ + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode18.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..f2149298230b368dba6bd8af83ddc5a9d5875d26 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the ceramic bowl, then stack it on the glazed bowl with curved sides.", + "Hold the bowl with brown outer rim and stack the blue bowl neatly atop.", + "Take the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides on top.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the medium-sized bowl for holding food over it.", + "Place the small bowl with brown edge on the surface, then stack the blue bowl above it.", + "Lift the curved bowl light blue shade, lay it down, and stack the small bowl with brown edge on top.", + "Pick up the dark inside bowl light blue outside using the left arm, then stack the small bowl with brown edge using the left arm.", + "Pick up the bowl with shiny texture, place it down, then position the bowl with brown outer rim on top.", + "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with brown outer rim.", + "Put the dark inside bowl light blue outside first, then bring the dark inside bowl light blue outside to stack above.", + "With the left arm, lift the bowl with shiny texture and stack the bowl with brown outer rim using the left arm.", + "Grab the ceramic bowl, then stack the small bowl with brown edge on top.", + "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl rests above.", + "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.", + "Place the blue bowl down, then set the blue bowl above it.", + "Take the blue bowl, position it, then stack the rounded bowl with light blue color directly above.", + "Lift the blue bowl with slightly rounded base, position the bowl with shiny texture above it, and stack.", + "Set down the bowl with brown outer rim and drop the glazed bowl with curved sides on top.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.", + "Arrange the glazed bowl with curved sides, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Take the medium-sized bowl for holding food, align the ceramic bowl with earthy brown trim, and stack them.", + "Position the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.", + "Grab the bowl with shiny texture, position it, and place the medium-sized bowl for holding food on top.", + "Align the medium-sized bowl for holding food over the bowl with brown outer rim, then complete the stack.", + "Pick the bowl with shiny texture, position the glazed bowl with curved sides, and place it over the bowl with shiny texture.", + "Lift the curved bowl light blue shade and position it neatly over the bowl with brown outer rim.", + "Grab the curved bowl light blue shade, set it down, then place the blue bowl with slightly rounded base over it.", + "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.", + "Grab the blue bowl with the left arm, place it, and stack the rounded bowl with light blue color with the left arm.", + "Place the ceramic bowl with earthy brown trim down and stack the rounded bowl with light blue color on top.", + "Lift the glazed bowl with curved sides, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Hold the ceramic bowl steady and slide the blue bowl on.", + "Use the left arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base with the left arm.", + "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.", + "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl above.", + "Stack the dark inside bowl light blue outside carefully over the bowl with shiny texture.", + "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.", + "Grab the rounded bowl with light blue color, lift it up, position the blue bowl, and stack them.", + "Pick up the small bowl with brown edge and set the blue bowl with slightly rounded base on it.", + "Pick the medium-sized bowl for holding food, then stack the blue bowl on it.", + "Position the bowl with brown outer rim with the arm, then set the blue bowl above it.", + "Lift the curved bowl light blue shade using the left arm, set it down, and stack the ceramic bowl using the left arm.", + "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge on top of the dark inside bowl light blue outside.", + "Set the ceramic bowl with earthy brown trim over the curved bowl light blue shade to create the stack.", + "Position the rounded bowl with light blue color carefully on the medium-sized bowl for holding food.", + "Lift the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with brown outer rim.", + "Grab the ceramic bowl, then carefully place the ceramic bowl on top.", + "Pick up the dark inside bowl light blue outside, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.", + "Align the ceramic bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl.", + "Lift the bowl with shiny texture, then stack it on the blue bowl.", + "Hold the glazed bowl with curved sides and stack the ceramic bowl neatly atop.", + "Take the bowl with shiny texture, place it, and stack the small bowl with brown edge on top.", + "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.", + "Place the dark inside bowl light blue outside on the surface, then stack the curved bowl light blue shade above it.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the dark inside bowl light blue outside on top.", + "Pick up the bowl with brown outer rim using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.", + "Pick up the blue bowl with slightly rounded base, place it down, then position the medium-sized bowl for holding food on top.", + "Grasp the glazed bowl with curved sides, then use the arm to align and stack the medium-sized bowl for holding food.", + "Put the ceramic bowl first, then bring the bowl with shiny texture to stack above.", + "With the left arm, lift the curved bowl light blue shade and stack the rounded bowl with light blue color using the left arm.", + "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.", + "the bowl with brown outer rim goes at the bottom, the curved bowl light blue shade rests above.", + "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.", + "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside above it.", + "Take the dark inside bowl light blue outside, position it, then stack the glazed bowl with curved sides directly above.", + "Lift the curved bowl light blue shade, position the blue bowl with slightly rounded base above it, and stack.", + "Set down the small bowl with brown edge and drop the small bowl with brown edge on top.", + "Use the arm to place the dark inside bowl light blue outside, then stack the blue bowl on top.", + "Arrange the blue bowl, lift the glazed bowl with curved sides with the arm, and stack them.", + "Take the medium-sized bowl for holding food, align the rounded bowl with light blue color, and stack them.", + "Position the curved bowl light blue shade, lift the bowl with shiny texture, and place the bowl with shiny texture on the curved bowl light blue shade.", + "Grab the small bowl with brown edge, position it, and place the curved bowl light blue shade on top.", + "Align the small bowl with brown edge over the medium-sized bowl for holding food, then complete the stack.", + "Pick the ceramic bowl with earthy brown trim, position the curved bowl light blue shade, and place it over the ceramic bowl with earthy brown trim.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.", + "Grab the small bowl with brown edge, set it down, then place the bowl with shiny texture over it.", + "Stack the medium-sized bowl for holding food securely on top of the curved bowl light blue shade.", + "Grab the ceramic bowl with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Place the rounded bowl with light blue color down and stack the medium-sized bowl for holding food on top.", + "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.", + "Hold the bowl with brown outer rim steady and slide the blue bowl on.", + "Use the left arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base with the left arm.", + "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.", + "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.", + "Stack the rounded bowl with light blue color carefully over the glazed bowl with curved sides.", + "Position the blue bowl and stack the blue bowl securely onto it.", + "Grab the rounded bowl with light blue color, lift it up, position the curved bowl light blue shade, and stack them.", + "Pick up the bowl with shiny texture and set the blue bowl on it.", + "Pick the blue bowl, then stack the blue bowl with slightly rounded base on it.", + "Position the small bowl with brown edge with the arm, then set the blue bowl with slightly rounded base above it.", + "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.", + "Place the blue bowl down, then set the dark inside bowl light blue outside on top of the blue bowl.", + "Set the small bowl with brown edge over the curved bowl light blue shade to create the stack.", + "Position the bowl with shiny texture carefully on the ceramic bowl with earthy brown trim.", + "Lift the bowl with shiny texture, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with shiny texture.", + "Grab the bowl with brown outer rim, then carefully place the ceramic bowl on top.", + "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.", + "Align the ceramic bowl with earthy brown trim and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.", + "Lift the medium-sized bowl for holding food, then stack it on the medium-sized bowl for holding food.", + "Hold the blue bowl and stack the blue bowl neatly atop." + ], + "unseen": [ + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode19.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1c7bf083e011e2d56165e1dfabf6cf9cffa917 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Stack the ceramic bowl securely on top of the curved bowl light blue shade.", + "Set the glazed bowl with curved sides down, then add the medium-sized bowl for holding food over it.", + "Hold the small bowl with brown edge steady and slide the ceramic bowl on.", + "Pick up the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.", + "Pick up the bowl with brown outer rim, place it down, then position the rounded bowl with light blue color on top.", + "Take the rounded bowl with light blue color, place it, and stack the curved bowl light blue shade on top.", + "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.", + "Grab the blue bowl with slightly rounded base, position it, and place the bowl with shiny texture on top.", + "Position the medium-sized bowl for holding food with the arm, then set the dark inside bowl light blue outside above it.", + "Place the blue bowl down and stack the blue bowl on top.", + "Put the bowl with brown outer rim first, then bring the bowl with brown outer rim to stack above.", + "Pick the medium-sized bowl for holding food, position on the table, and place the glazed bowl with curved sides over it.", + "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base above it.", + "Set down the ceramic bowl with earthy brown trim and drop the bowl with shiny texture on top.", + "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.", + "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.", + "Take the medium-sized bowl for holding food, place the small bowl with brown edge above, and let go.", + "Grab the blue bowl with slightly rounded base, then stack the blue bowl on top.", + "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.", + "Align the blue bowl over the ceramic bowl, then complete the stack.", + "Pick up the rounded bowl with light blue color using the right arm, then stack the blue bowl with slightly rounded base using the right arm.", + "Take the medium-sized bowl for holding food, align the curved bowl light blue shade, and stack them.", + "Position the ceramic bowl with earthy brown trim carefully on the bowl with brown outer rim.", + "Position the glazed bowl with curved sides, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the glazed bowl with curved sides.", + "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.", + "Align the medium-sized bowl for holding food and the blue bowl, then stack the blue bowl on the medium-sized bowl for holding food.", + "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade.", + "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl over it.", + "Arrange the medium-sized bowl for holding food, lift the curved bowl light blue shade with the arm, and stack them.", + "Pick the ceramic bowl with earthy brown trim, position the bowl with shiny texture, and place it over the ceramic bowl with earthy brown trim.", + "Pick up the curved bowl light blue shade and set the glazed bowl with curved sides on it.", + "Hold the bowl with brown outer rim and stack the ceramic bowl neatly atop.", + "Position the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim securely onto it.", + "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base on top of the medium-sized bowl for holding food.", + "Grab the glazed bowl with curved sides with the right arm, place it, and stack the bowl with shiny texture with the right arm.", + "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.", + "Place the rounded bowl with light blue color on the surface, then stack the glazed bowl with curved sides above it.", + "Set the ceramic bowl with earthy brown trim over the glazed bowl with curved sides to create the stack.", + "With the right arm, lift the ceramic bowl and stack the bowl with brown outer rim using the right arm.", + "Take the curved bowl light blue shade, position it, then stack the dark inside bowl light blue outside directly above.", + "Lift the small bowl with brown edge and position it neatly over the blue bowl.", + "Pick the blue bowl, then stack the ceramic bowl on it.", + "Lift the glazed bowl with curved sides, stack it precisely on top of the rounded bowl with light blue color.", + "Grab the bowl with shiny texture, then carefully place the medium-sized bowl for holding food on top.", + "Lift the blue bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl.", + "Use the right arm for the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim with the right arm.", + "Lift the blue bowl with slightly rounded base, put it on the table, and stack the dark inside bowl light blue outside above.", + "Lift the ceramic bowl, then stack it on the blue bowl with slightly rounded base.", + "Lift the small bowl with brown edge, position the ceramic bowl with earthy brown trim above it, and stack.", + "Stack the rounded bowl with light blue color securely on top of the ceramic bowl with earthy brown trim.", + "Set the dark inside bowl light blue outside down, then add the bowl with brown outer rim over it.", + "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl on.", + "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.", + "Pick up the rounded bowl with light blue color, place it down, then position the glazed bowl with curved sides on top.", + "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.", + "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.", + "Grab the small bowl with brown edge, position it, and place the blue bowl on top.", + "Position the rounded bowl with light blue color with the arm, then set the medium-sized bowl for holding food above it.", + "Place the ceramic bowl down and stack the ceramic bowl on top.", + "Put the small bowl with brown edge first, then bring the ceramic bowl to stack above.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl with slightly rounded base over it.", + "Place the blue bowl down, then set the ceramic bowl above it.", + "Set down the ceramic bowl with earthy brown trim and drop the bowl with shiny texture on top.", + "Lift the dark inside bowl light blue outside, lay it down, and stack the rounded bowl with light blue color on top.", + "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.", + "Take the curved bowl light blue shade, place the curved bowl light blue shade above, and let go.", + "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.", + "Stack the ceramic bowl carefully over the ceramic bowl with earthy brown trim.", + "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.", + "Pick up the curved bowl light blue shade using the right arm, then stack the blue bowl using the right arm.", + "Take the curved bowl light blue shade, align the blue bowl, and stack them.", + "Position the ceramic bowl with earthy brown trim carefully on the blue bowl with slightly rounded base.", + "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.", + "the rounded bowl with light blue color goes at the bottom, the ceramic bowl rests above.", + "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the small bowl with brown edge.", + "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl over it.", + "Arrange the small bowl with brown edge, lift the curved bowl light blue shade with the arm, and stack them.", + "Pick the small bowl with brown edge, position the small bowl with brown edge, and place it over the small bowl with brown edge.", + "Pick up the dark inside bowl light blue outside and set the bowl with shiny texture on it.", + "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.", + "Position the ceramic bowl and stack the ceramic bowl with earthy brown trim securely onto it.", + "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl with earthy brown trim.", + "Grab the bowl with brown outer rim with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.", + "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.", + "Place the blue bowl on the surface, then stack the ceramic bowl above it.", + "Set the blue bowl over the ceramic bowl to create the stack.", + "With the right arm, lift the ceramic bowl and stack the bowl with brown outer rim using the right arm.", + "Take the blue bowl, position it, then stack the dark inside bowl light blue outside directly above.", + "Lift the blue bowl and position it neatly over the small bowl with brown edge.", + "Pick the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on it.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the curved bowl light blue shade.", + "Grab the bowl with shiny texture, then carefully place the dark inside bowl light blue outside on top.", + "Lift the glazed bowl with curved sides, grab the blue bowl, and set the blue bowl on the glazed bowl with curved sides.", + "Use the right arm for the bowl with brown outer rim, place it, and stack the blue bowl with the right arm.", + "Lift the bowl with brown outer rim, put it on the table, and stack the curved bowl light blue shade above.", + "Lift the blue bowl, then stack it on the ceramic bowl.", + "Lift the ceramic bowl, position the bowl with brown outer rim above it, and stack.", + "Stack the bowl with shiny texture securely on top of the ceramic bowl.", + "Set the medium-sized bowl for holding food down, then add the glazed bowl with curved sides over it." + ], + "unseen": [ + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode2.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..9bf4541d25017247ba2586b9db98b8d10b933783 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the small bowl with brown edge, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the small bowl with brown edge.", + "Place the small bowl with brown edge down, then set the bowl with brown outer rim on top of the small bowl with brown edge.", + "Align the dark inside bowl light blue outside and the bowl with brown outer rim, then stack the bowl with brown outer rim on the dark inside bowl light blue outside.", + "Pick the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on it.", + "Grab the ceramic bowl, position it, and place the bowl with shiny texture on top.", + "Pick the small bowl with brown edge, position the bowl with shiny texture, and place it over the small bowl with brown edge.", + "Lift the blue bowl with slightly rounded base, put it on the table, and stack the rounded bowl with light blue color above.", + "the bowl with shiny texture goes at the bottom, the dark inside bowl light blue outside rests above.", + "Take the blue bowl with slightly rounded base, place the ceramic bowl above, and let go.", + "Place the ceramic bowl with earthy brown trim down and stack the blue bowl with slightly rounded base on top.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the medium-sized bowl for holding food directly above.", + "Pick up the glazed bowl with curved sides and set the small bowl with brown edge on it.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the rounded bowl with light blue color.", + "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the small bowl with brown edge using the right arm.", + "Align the bowl with brown outer rim over the ceramic bowl with earthy brown trim, then complete the stack.", + "Use the left arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the right arm.", + "Take the small bowl with brown edge, align the small bowl with brown edge, and stack them.", + "Place the rounded bowl with light blue color down, then set the ceramic bowl above it.", + "Grab the bowl with shiny texture, lift it up, position the bowl with shiny texture, and stack them.", + "Position the curved bowl light blue shade carefully on the blue bowl.", + "Lift the bowl with brown outer rim and position it neatly over the ceramic bowl with earthy brown trim.", + "Arrange the bowl with shiny texture, lift the blue bowl with slightly rounded base with the arm, and stack them.", + "Grab the small bowl with brown edge with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.", + "Lift the blue bowl, lay it down, and stack the curved bowl light blue shade on top.", + "Use the arm to place the ceramic bowl, then stack the glazed bowl with curved sides on top.", + "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Lift the blue bowl using the left arm, set it down, and stack the small bowl with brown edge using the right arm.", + "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.", + "Lift the blue bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl.", + "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.", + "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Put the dark inside bowl light blue outside first, then bring the medium-sized bowl for holding food to stack above.", + "Grab the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on top.", + "Stack the rounded bowl with light blue color securely on top of the small bowl with brown edge.", + "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.", + "With the left arm, lift the bowl with shiny texture and stack the bowl with brown outer rim using the right arm.", + "Take the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade on top.", + "Set the rounded bowl with light blue color over the small bowl with brown edge to create the stack.", + "Place the bowl with brown outer rim on the surface, then stack the rounded bowl with light blue color above it.", + "Position the medium-sized bowl for holding food, lift the ceramic bowl, and place the ceramic bowl on the medium-sized bowl for holding food.", + "Lift the curved bowl light blue shade, position the medium-sized bowl for holding food above it, and stack.", + "Stack the curved bowl light blue shade carefully over the ceramic bowl.", + "Set down the small bowl with brown edge and drop the bowl with brown outer rim on top.", + "Hold the ceramic bowl steady and slide the ceramic bowl with earthy brown trim on.", + "Set the glazed bowl with curved sides down, then add the medium-sized bowl for holding food over it.", + "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.", + "Grab the bowl with brown outer rim, set it down, then place the medium-sized bowl for holding food over it.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the curved bowl light blue shade over it.", + "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.", + "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.", + "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge on top of the dark inside bowl light blue outside.", + "Align the rounded bowl with light blue color and the bowl with shiny texture, then stack the bowl with shiny texture on the rounded bowl with light blue color.", + "Pick the medium-sized bowl for holding food, then stack the small bowl with brown edge on it.", + "Grab the curved bowl light blue shade, position it, and place the rounded bowl with light blue color on top.", + "Pick the blue bowl with slightly rounded base, position the small bowl with brown edge, and place it over the blue bowl with slightly rounded base.", + "Lift the ceramic bowl, put it on the table, and stack the small bowl with brown edge above.", + "the dark inside bowl light blue outside goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Take the glazed bowl with curved sides, place the glazed bowl with curved sides above, and let go.", + "Place the glazed bowl with curved sides down and stack the bowl with brown outer rim on top.", + "Take the glazed bowl with curved sides, position it, then stack the blue bowl with slightly rounded base directly above.", + "Pick up the ceramic bowl and set the blue bowl on it.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Pick up the small bowl with brown edge using the left arm, then stack the small bowl with brown edge using the right arm.", + "Align the ceramic bowl over the rounded bowl with light blue color, then complete the stack.", + "Use the left arm for the blue bowl, place it, and stack the bowl with brown outer rim with the right arm.", + "Take the ceramic bowl with earthy brown trim, align the ceramic bowl, and stack them.", + "Place the ceramic bowl down, then set the medium-sized bowl for holding food above it.", + "Grab the glazed bowl with curved sides, lift it up, position the blue bowl, and stack them.", + "Position the ceramic bowl carefully on the small bowl with brown edge.", + "Lift the bowl with shiny texture and position it neatly over the glazed bowl with curved sides.", + "Arrange the small bowl with brown edge, lift the bowl with shiny texture with the arm, and stack them.", + "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the blue bowl on top.", + "Use the arm to place the bowl with shiny texture, then stack the blue bowl on top.", + "Grasp the blue bowl, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Lift the blue bowl using the left arm, set it down, and stack the ceramic bowl using the right arm.", + "Hold the medium-sized bowl for holding food and stack the curved bowl light blue shade neatly atop.", + "Lift the rounded bowl with light blue color, grab the bowl with shiny texture, and set the bowl with shiny texture on the rounded bowl with light blue color.", + "Grab the blue bowl, then carefully place the bowl with shiny texture on top.", + "Pick up the bowl with shiny texture, place it down, then position the curved bowl light blue shade on top.", + "Put the rounded bowl with light blue color first, then bring the bowl with shiny texture to stack above.", + "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.", + "Stack the ceramic bowl with earthy brown trim securely on top of the medium-sized bowl for holding food.", + "Lift the ceramic bowl with earthy brown trim, then stack it on the blue bowl with slightly rounded base.", + "With the left arm, lift the blue bowl with slightly rounded base and stack the small bowl with brown edge using the right arm.", + "Take the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food on top.", + "Set the blue bowl with slightly rounded base over the blue bowl to create the stack.", + "Place the medium-sized bowl for holding food on the surface, then stack the dark inside bowl light blue outside above it.", + "Position the blue bowl with slightly rounded base, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl with slightly rounded base.", + "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack.", + "Stack the dark inside bowl light blue outside carefully over the medium-sized bowl for holding food.", + "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl with earthy brown trim on top.", + "Hold the glazed bowl with curved sides steady and slide the curved bowl light blue shade on.", + "Set the bowl with shiny texture down, then add the small bowl with brown edge over it.", + "Position the bowl with shiny texture and stack the glazed bowl with curved sides securely onto it.", + "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.", + "Pick the rounded bowl with light blue color, position on the table, and place the curved bowl light blue shade over it.", + "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.", + "Pick up the blue bowl with slightly rounded base, grab the blue bowl, and stack the blue bowl on the blue bowl with slightly rounded base.", + "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food on top of the blue bowl with slightly rounded base." + ], + "unseen": [ + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode20.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..2de2ef58f5c1279d05f7cc57452edbaae6931a1e --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with brown outer rim on top.", + "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl over it.", + "Lift the medium-sized bowl for holding food and position it neatly over the medium-sized bowl for holding food.", + "Lift the bowl with shiny texture, then stack it on the bowl with shiny texture.", + "Grab the blue bowl with the right arm, place it, and stack the curved bowl light blue shade with the left arm.", + "Grab the blue bowl with slightly rounded base, position it, and place the curved bowl light blue shade on top.", + "Pick up the blue bowl, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl.", + "Position the medium-sized bowl for holding food, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the medium-sized bowl for holding food.", + "Pick up the dark inside bowl light blue outside, place it down, then position the medium-sized bowl for holding food on top.", + "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food on top of the ceramic bowl with earthy brown trim.", + "With the right arm, lift the bowl with shiny texture and stack the glazed bowl with curved sides using the left arm.", + "Take the glazed bowl with curved sides, align the ceramic bowl, and stack them.", + "Grab the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on top.", + "Use the right arm for the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl above.", + "Position the rounded bowl with light blue color with the arm, then set the bowl with brown outer rim above it.", + "Stack the glazed bowl with curved sides carefully over the ceramic bowl.", + "Lift the ceramic bowl using the right arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Pick the curved bowl light blue shade, position the bowl with shiny texture, and place it over the curved bowl light blue shade.", + "Hold the bowl with shiny texture steady and slide the rounded bowl with light blue color on.", + "Put the small bowl with brown edge first, then bring the ceramic bowl with earthy brown trim to stack above.", + "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.", + "Set the small bowl with brown edge down, then add the bowl with shiny texture over it.", + "Grab the small bowl with brown edge, then carefully place the bowl with brown outer rim on top.", + "Place the bowl with brown outer rim on the surface, then stack the blue bowl with slightly rounded base above it.", + "Set the blue bowl with slightly rounded base over the small bowl with brown edge to create the stack.", + "Pick up the bowl with shiny texture and set the curved bowl light blue shade on it.", + "Place the rounded bowl with light blue color down and stack the small bowl with brown edge on top.", + "Pick the ceramic bowl, position on the table, and place the dark inside bowl light blue outside over it.", + "Stack the ceramic bowl securely on top of the ceramic bowl.", + "Hold the ceramic bowl and stack the rounded bowl with light blue color neatly atop.", + "Take the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim on top.", + "Use the arm to place the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.", + "Align the small bowl with brown edge over the rounded bowl with light blue color, then complete the stack.", + "the small bowl with brown edge goes at the bottom, the glazed bowl with curved sides rests above.", + "Take the medium-sized bowl for holding food, place the bowl with shiny texture above, and let go.", + "Lift the medium-sized bowl for holding food, position the bowl with brown outer rim above it, and stack.", + "Pick up the bowl with shiny texture using the right arm, then stack the bowl with brown outer rim using the left arm.", + "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.", + "Grab the small bowl with brown edge, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Position the blue bowl and stack the ceramic bowl securely onto it.", + "Lift the blue bowl with slightly rounded base, stack it precisely on top of the bowl with shiny texture.", + "Arrange the rounded bowl with light blue color, lift the glazed bowl with curved sides with the arm, and stack them.", + "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl with earthy brown trim directly above.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the curved bowl light blue shade.", + "Align the curved bowl light blue shade and the curved bowl light blue shade, then stack the curved bowl light blue shade on the curved bowl light blue shade.", + "Position the medium-sized bowl for holding food carefully on the ceramic bowl with earthy brown trim.", + "Pick the bowl with brown outer rim, then stack the bowl with brown outer rim on it.", + "Place the bowl with shiny texture down, then set the small bowl with brown edge above it.", + "Lift the curved bowl light blue shade, lay it down, and stack the bowl with shiny texture on top.", + "Grab the medium-sized bowl for holding food, set it down, then place the ceramic bowl with earthy brown trim over it.", + "Lift the bowl with brown outer rim and position it neatly over the rounded bowl with light blue color.", + "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.", + "Grab the bowl with brown outer rim with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.", + "Grab the ceramic bowl, position it, and place the ceramic bowl on top.", + "Pick up the rounded bowl with light blue color, grab the blue bowl, and stack the blue bowl on the rounded bowl with light blue color.", + "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the dark inside bowl light blue outside on top.", + "Place the blue bowl down, then set the glazed bowl with curved sides on top of the blue bowl.", + "With the right arm, lift the bowl with shiny texture and stack the curved bowl light blue shade using the left arm.", + "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.", + "Grab the ceramic bowl, then stack the ceramic bowl with earthy brown trim on top.", + "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade with the left arm.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl with earthy brown trim above.", + "Position the bowl with shiny texture with the arm, then set the dark inside bowl light blue outside above it.", + "Stack the curved bowl light blue shade carefully over the ceramic bowl with earthy brown trim.", + "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.", + "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.", + "Hold the ceramic bowl with earthy brown trim steady and slide the rounded bowl with light blue color on.", + "Put the rounded bowl with light blue color first, then bring the glazed bowl with curved sides to stack above.", + "Set down the bowl with brown outer rim and drop the curved bowl light blue shade on top.", + "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl with earthy brown trim over it.", + "Grab the blue bowl, then carefully place the glazed bowl with curved sides on top.", + "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it.", + "Set the bowl with shiny texture over the rounded bowl with light blue color to create the stack.", + "Pick up the bowl with shiny texture and set the medium-sized bowl for holding food on it.", + "Place the small bowl with brown edge down and stack the blue bowl on top.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.", + "Stack the small bowl with brown edge securely on top of the curved bowl light blue shade.", + "Hold the glazed bowl with curved sides and stack the dark inside bowl light blue outside neatly atop.", + "Take the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color on top.", + "Use the arm to place the curved bowl light blue shade, then stack the bowl with shiny texture on top.", + "Align the small bowl with brown edge over the dark inside bowl light blue outside, then complete the stack.", + "the medium-sized bowl for holding food goes at the bottom, the dark inside bowl light blue outside rests above.", + "Take the dark inside bowl light blue outside, place the ceramic bowl above, and let go.", + "Lift the bowl with shiny texture, position the rounded bowl with light blue color above it, and stack.", + "Pick up the curved bowl light blue shade using the right arm, then stack the ceramic bowl using the left arm.", + "Lift the dark inside bowl light blue outside, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the dark inside bowl light blue outside.", + "Grab the curved bowl light blue shade, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Position the glazed bowl with curved sides and stack the dark inside bowl light blue outside securely onto it.", + "Lift the dark inside bowl light blue outside, stack it precisely on top of the small bowl with brown edge.", + "Arrange the bowl with shiny texture, lift the ceramic bowl with the arm, and stack them.", + "Take the bowl with brown outer rim, position it, then stack the bowl with brown outer rim directly above.", + "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the glazed bowl with curved sides.", + "Align the ceramic bowl with earthy brown trim and the blue bowl, then stack the blue bowl on the ceramic bowl with earthy brown trim.", + "Position the bowl with shiny texture carefully on the small bowl with brown edge.", + "Pick the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on it.", + "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture above it.", + "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl over it." + ], + "unseen": [ + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode21.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..ba4c4176e736652977047e9da0d845bd743ba733 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rounded bowl with light blue color, then stack the ceramic bowl on top.", + "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.", + "Lift the ceramic bowl with earthy brown trim, position the curved bowl light blue shade above it, and stack.", + "Lift the blue bowl using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.", + "Lift the blue bowl, lay it down, and stack the medium-sized bowl for holding food on top.", + "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.", + "the ceramic bowl goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Place the bowl with brown outer rim down and stack the bowl with brown outer rim on top.", + "Stack the medium-sized bowl for holding food carefully over the bowl with brown outer rim.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the dark inside bowl light blue outside.", + "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.", + "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the bowl with brown outer rim with the left arm.", + "Place the blue bowl down, then set the glazed bowl with curved sides above it.", + "Take the medium-sized bowl for holding food, align the dark inside bowl light blue outside, and stack them.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Pick up the medium-sized bowl for holding food and set the bowl with brown outer rim on it.", + "With the right arm, lift the dark inside bowl light blue outside and stack the small bowl with brown edge using the left arm.", + "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl with slightly rounded base on.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl with slightly rounded base.", + "Lift the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the dark inside bowl light blue outside.", + "Grab the small bowl with brown edge, then carefully place the dark inside bowl light blue outside on top.", + "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with shiny texture on top.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl above.", + "Set down the blue bowl and drop the blue bowl on top.", + "Grab the dark inside bowl light blue outside, position it, and place the rounded bowl with light blue color on top.", + "Pick up the blue bowl using the right arm, then stack the ceramic bowl using the left arm.", + "Set the glazed bowl with curved sides over the blue bowl to create the stack.", + "Place the ceramic bowl on the surface, then stack the bowl with brown outer rim above it.", + "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.", + "Align the blue bowl with slightly rounded base over the curved bowl light blue shade, then complete the stack.", + "Pick the dark inside bowl light blue outside, position the ceramic bowl, and place it over the dark inside bowl light blue outside.", + "Hold the medium-sized bowl for holding food and stack the ceramic bowl neatly atop.", + "Put the bowl with shiny texture first, then bring the curved bowl light blue shade to stack above.", + "Take the bowl with shiny texture, position it, then stack the ceramic bowl directly above.", + "Stack the rounded bowl with light blue color securely on top of the dark inside bowl light blue outside.", + "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Lift the ceramic bowl, then stack it on the ceramic bowl with earthy brown trim.", + "Align the bowl with shiny texture and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the bowl with shiny texture.", + "Grab the blue bowl, lift it up, position the rounded bowl with light blue color, and stack them.", + "Place the small bowl with brown edge down, then set the bowl with shiny texture on top of the small bowl with brown edge.", + "Take the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides on top.", + "Position the bowl with brown outer rim with the arm, then set the dark inside bowl light blue outside above it.", + "Position the ceramic bowl with earthy brown trim and stack the bowl with shiny texture securely onto it.", + "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with the arm, and stack them.", + "Grab the curved bowl light blue shade, set it down, then place the glazed bowl with curved sides over it.", + "Pick the bowl with shiny texture, then stack the medium-sized bowl for holding food on it.", + "Position the ceramic bowl with earthy brown trim carefully on the blue bowl.", + "Position the curved bowl light blue shade, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the curved bowl light blue shade.", + "Use the right arm for the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base with the left arm.", + "Grab the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.", + "Set the ceramic bowl down, then add the ceramic bowl over it.", + "Lift the blue bowl, position the glazed bowl with curved sides above it, and stack.", + "Lift the bowl with brown outer rim using the right arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.", + "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl with earthy brown trim.", + "the curved bowl light blue shade goes at the bottom, the small bowl with brown edge rests above.", + "Place the glazed bowl with curved sides down and stack the bowl with shiny texture on top.", + "Stack the blue bowl carefully over the dark inside bowl light blue outside.", + "Lift the bowl with shiny texture, stack it precisely on top of the small bowl with brown edge.", + "Take the blue bowl, place the blue bowl with slightly rounded base above, and let go.", + "Grab the curved bowl light blue shade with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.", + "Place the small bowl with brown edge down, then set the blue bowl above it.", + "Take the bowl with brown outer rim, align the dark inside bowl light blue outside, and stack them.", + "Pick the medium-sized bowl for holding food, position on the table, and place the glazed bowl with curved sides over it.", + "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it.", + "With the right arm, lift the dark inside bowl light blue outside and stack the small bowl with brown edge using the left arm.", + "Hold the ceramic bowl steady and slide the blue bowl on.", + "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with shiny texture.", + "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.", + "Grab the small bowl with brown edge, then carefully place the ceramic bowl with earthy brown trim on top.", + "Pick up the rounded bowl with light blue color, place it down, then position the small bowl with brown edge on top.", + "Lift the blue bowl, put it on the table, and stack the bowl with shiny texture above.", + "Set down the bowl with brown outer rim and drop the glazed bowl with curved sides on top.", + "Grab the ceramic bowl, position it, and place the ceramic bowl on top.", + "Pick up the ceramic bowl using the right arm, then stack the medium-sized bowl for holding food using the left arm.", + "Set the glazed bowl with curved sides over the blue bowl to create the stack.", + "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.", + "Use the arm to place the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.", + "Align the bowl with brown outer rim over the ceramic bowl, then complete the stack.", + "Pick the rounded bowl with light blue color, position the ceramic bowl, and place it over the rounded bowl with light blue color.", + "Hold the ceramic bowl with earthy brown trim and stack the small bowl with brown edge neatly atop.", + "Put the blue bowl first, then bring the small bowl with brown edge to stack above.", + "Take the small bowl with brown edge, position it, then stack the blue bowl with slightly rounded base directly above.", + "Stack the small bowl with brown edge securely on top of the small bowl with brown edge.", + "Pick up the glazed bowl with curved sides, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the glazed bowl with curved sides.", + "Lift the curved bowl light blue shade, then stack it on the bowl with brown outer rim.", + "Align the ceramic bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl.", + "Grab the blue bowl, lift it up, position the rounded bowl with light blue color, and stack them.", + "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside on top of the dark inside bowl light blue outside.", + "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.", + "Position the dark inside bowl light blue outside with the arm, then set the blue bowl above it.", + "Position the rounded bowl with light blue color and stack the ceramic bowl securely onto it.", + "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base with the arm, and stack them.", + "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl over it.", + "Pick the curved bowl light blue shade, then stack the ceramic bowl on it.", + "Position the medium-sized bowl for holding food carefully on the medium-sized bowl for holding food.", + "Position the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the curved bowl light blue shade.", + "Use the right arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with the left arm.", + "Grab the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on top.", + "Set the dark inside bowl light blue outside down, then add the medium-sized bowl for holding food over it." + ], + "unseen": [ + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode22.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..55a7bd24804c26392fe19c44dc5de3ad4bac84cd --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the glazed bowl with curved sides, place it down, then position the bowl with brown outer rim on top.", + "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.", + "Stack the dark inside bowl light blue outside carefully over the bowl with shiny texture.", + "Arrange the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim with the arm, and stack them.", + "Set the blue bowl with slightly rounded base down, then add the ceramic bowl with earthy brown trim over it.", + "Lift the blue bowl, stack it precisely on top of the curved bowl light blue shade.", + "Use the right arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the left arm.", + "Pick up the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the glazed bowl with curved sides.", + "Place the medium-sized bowl for holding food down, then set the glazed bowl with curved sides on top of the medium-sized bowl for holding food.", + "Grab the blue bowl, position it, and place the dark inside bowl light blue outside on top.", + "the glazed bowl with curved sides goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.", + "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.", + "Grasp the glazed bowl with curved sides, then use the arm to align and stack the small bowl with brown edge.", + "Hold the medium-sized bowl for holding food and stack the curved bowl light blue shade neatly atop.", + "Hold the curved bowl light blue shade steady and slide the blue bowl on.", + "Set down the rounded bowl with light blue color and drop the bowl with brown outer rim on top.", + "Place the small bowl with brown edge down and stack the rounded bowl with light blue color on top.", + "Position the bowl with brown outer rim and stack the medium-sized bowl for holding food securely onto it.", + "Pick the ceramic bowl, then stack the ceramic bowl with earthy brown trim on it.", + "Place the bowl with shiny texture on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Lift the bowl with shiny texture, position the bowl with brown outer rim above it, and stack.", + "Grab the ceramic bowl, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Position the bowl with shiny texture carefully on the small bowl with brown edge.", + "Use the arm to place the ceramic bowl, then stack the dark inside bowl light blue outside on top.", + "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the small bowl with brown edge above.", + "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Pick up the medium-sized bowl for holding food using the right arm, then stack the bowl with shiny texture using the left arm.", + "Take the blue bowl, place the ceramic bowl with earthy brown trim above, and let go.", + "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.", + "Pick up the bowl with brown outer rim and set the blue bowl with slightly rounded base on it.", + "Grab the blue bowl, then stack the glazed bowl with curved sides on top.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the dark inside bowl light blue outside directly above.", + "Align the bowl with shiny texture over the ceramic bowl with earthy brown trim, then complete the stack.", + "Position the bowl with shiny texture, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with shiny texture.", + "Grab the bowl with brown outer rim, then carefully place the bowl with brown outer rim on top.", + "Lift the small bowl with brown edge, grab the blue bowl, and set the blue bowl on the small bowl with brown edge.", + "Grab the rounded bowl with light blue color with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.", + "Set the rounded bowl with light blue color over the glazed bowl with curved sides to create the stack.", + "Stack the blue bowl with slightly rounded base securely on top of the dark inside bowl light blue outside.", + "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.", + "Grab the small bowl with brown edge, set it down, then place the ceramic bowl over it.", + "With the right arm, lift the glazed bowl with curved sides and stack the ceramic bowl using the left arm.", + "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.", + "Position the ceramic bowl with the arm, then set the bowl with shiny texture above it.", + "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl.", + "Align the ceramic bowl and the blue bowl, then stack the blue bowl on the ceramic bowl.", + "Pick up the medium-sized bowl for holding food, place it down, then position the ceramic bowl on top.", + "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.", + "Stack the medium-sized bowl for holding food carefully over the blue bowl.", + "Arrange the rounded bowl with light blue color, lift the bowl with shiny texture with the arm, and stack them.", + "Set the small bowl with brown edge down, then add the dark inside bowl light blue outside over it.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the glazed bowl with curved sides.", + "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture with the left arm.", + "Pick up the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the blue bowl with slightly rounded base.", + "Place the bowl with brown outer rim down, then set the ceramic bowl on top of the bowl with brown outer rim.", + "Grab the curved bowl light blue shade, position it, and place the medium-sized bowl for holding food on top.", + "the bowl with shiny texture goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Lift the ceramic bowl and position it neatly over the small bowl with brown edge.", + "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl on top.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Hold the bowl with shiny texture and stack the ceramic bowl with earthy brown trim neatly atop.", + "Hold the bowl with brown outer rim steady and slide the curved bowl light blue shade on.", + "Set down the dark inside bowl light blue outside and drop the curved bowl light blue shade on top.", + "Place the ceramic bowl with earthy brown trim down and stack the glazed bowl with curved sides on top.", + "Position the curved bowl light blue shade and stack the small bowl with brown edge securely onto it.", + "Pick the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on it.", + "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Lift the medium-sized bowl for holding food, position the blue bowl above it, and stack.", + "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.", + "Position the blue bowl carefully on the medium-sized bowl for holding food.", + "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.", + "Put the glazed bowl with curved sides first, then bring the rounded bowl with light blue color to stack above.", + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the medium-sized bowl for holding food above.", + "Take the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color on top.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the ceramic bowl using the left arm.", + "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.", + "Pick the curved bowl light blue shade, position on the table, and place the bowl with brown outer rim over it.", + "Pick up the rounded bowl with light blue color and set the rounded bowl with light blue color on it.", + "Grab the curved bowl light blue shade, then stack the blue bowl on top.", + "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl with earthy brown trim directly above.", + "Align the curved bowl light blue shade over the ceramic bowl, then complete the stack.", + "Position the blue bowl, lift the blue bowl, and place the blue bowl on the blue bowl.", + "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.", + "Lift the dark inside bowl light blue outside, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the dark inside bowl light blue outside.", + "Grab the bowl with brown outer rim with the right arm, place it, and stack the curved bowl light blue shade with the left arm.", + "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl using the left arm.", + "Set the bowl with brown outer rim over the medium-sized bowl for holding food to create the stack.", + "Stack the blue bowl securely on top of the dark inside bowl light blue outside.", + "Take the medium-sized bowl for holding food, align the bowl with brown outer rim, and stack them.", + "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl with earthy brown trim over it.", + "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl using the left arm.", + "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base above it.", + "Position the rounded bowl with light blue color with the arm, then set the bowl with brown outer rim above it.", + "Lift the dark inside bowl light blue outside, then stack it on the blue bowl with slightly rounded base.", + "Align the rounded bowl with light blue color and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the rounded bowl with light blue color.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with brown outer rim on top.", + "Pick the dark inside bowl light blue outside, position the rounded bowl with light blue color, and place it over the dark inside bowl light blue outside." + ], + "unseen": [ + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode23.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..2bba327971e255c901257b09f5ca952fcca40b2d --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the arm to place the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.", + "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top.", + "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl with earthy brown trim to stack above.", + "Set the small bowl with brown edge over the dark inside bowl light blue outside to create the stack.", + "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.", + "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the dark inside bowl light blue outside.", + "With the left arm, lift the bowl with brown outer rim and stack the blue bowl using the right arm.", + "Hold the glazed bowl with curved sides and stack the dark inside bowl light blue outside neatly atop.", + "Grab the rounded bowl with light blue color, lift it up, position the blue bowl, and stack them.", + "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.", + "Grab the ceramic bowl, then stack the curved bowl light blue shade on top.", + "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with shiny texture on top.", + "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the bowl with shiny texture using the right arm.", + "Place the curved bowl light blue shade down, then set the bowl with shiny texture on top of the curved bowl light blue shade.", + "Lift the ceramic bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl.", + "Hold the blue bowl with slightly rounded base steady and slide the ceramic bowl with earthy brown trim on.", + "Pick the bowl with brown outer rim, position the medium-sized bowl for holding food, and place it over the bowl with brown outer rim.", + "Pick up the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.", + "Lift the bowl with shiny texture, stack it precisely on top of the medium-sized bowl for holding food.", + "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl above.", + "Place the bowl with brown outer rim on the surface, then stack the bowl with shiny texture above it.", + "Set the bowl with brown outer rim down, then add the small bowl with brown edge over it.", + "Take the glazed bowl with curved sides, align the ceramic bowl with earthy brown trim, and stack them.", + "Grab the ceramic bowl with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.", + "Pick up the blue bowl, place it down, then position the bowl with brown outer rim on top.", + "Lift the blue bowl and position it neatly over the small bowl with brown edge.", + "Grab the blue bowl, set it down, then place the ceramic bowl with earthy brown trim over it.", + "Lift the blue bowl with slightly rounded base, then stack it on the rounded bowl with light blue color.", + "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.", + "Arrange the glazed bowl with curved sides, lift the ceramic bowl with earthy brown trim with the arm, and stack them.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Pick up the curved bowl light blue shade using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.", + "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base with the right arm.", + "Position the curved bowl light blue shade and stack the bowl with brown outer rim securely onto it.", + "Pick the blue bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "the glazed bowl with curved sides goes at the bottom, the ceramic bowl rests above.", + "Grab the blue bowl with slightly rounded base, then carefully place the glazed bowl with curved sides on top.", + "Position the dark inside bowl light blue outside carefully on the bowl with brown outer rim.", + "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it.", + "Align the ceramic bowl over the glazed bowl with curved sides, then complete the stack.", + "Set down the rounded bowl with light blue color and drop the blue bowl with slightly rounded base on top.", + "Place the bowl with shiny texture down and stack the blue bowl with slightly rounded base on top.", + "Position the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the curved bowl light blue shade.", + "Place the rounded bowl with light blue color down, then set the bowl with shiny texture above it.", + "Take the medium-sized bowl for holding food, place the blue bowl above, and let go.", + "Stack the rounded bowl with light blue color securely on top of the bowl with shiny texture.", + "Lift the blue bowl with slightly rounded base, position the curved bowl light blue shade above it, and stack.", + "Stack the rounded bowl with light blue color carefully over the glazed bowl with curved sides.", + "Use the arm to place the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.", + "Grab the bowl with shiny texture, position it, and place the bowl with shiny texture on top.", + "Put the ceramic bowl first, then bring the bowl with brown outer rim to stack above.", + "Set the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim to create the stack.", + "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Take the small bowl with brown edge, place it, and stack the ceramic bowl on top.", + "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the dark inside bowl light blue outside.", + "With the left arm, lift the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside using the right arm.", + "Hold the medium-sized bowl for holding food and stack the glazed bowl with curved sides neatly atop.", + "Grab the small bowl with brown edge, lift it up, position the ceramic bowl, and stack them.", + "Take the curved bowl light blue shade, position it, then stack the blue bowl with slightly rounded base directly above.", + "Grab the blue bowl, then stack the glazed bowl with curved sides on top.", + "Lift the glazed bowl with curved sides, lay it down, and stack the medium-sized bowl for holding food on top.", + "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the bowl with shiny texture using the right arm.", + "Place the curved bowl light blue shade down, then set the small bowl with brown edge on top of the curved bowl light blue shade.", + "Lift the bowl with shiny texture, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with shiny texture.", + "Hold the curved bowl light blue shade steady and slide the medium-sized bowl for holding food on.", + "Pick the glazed bowl with curved sides, position the curved bowl light blue shade, and place it over the glazed bowl with curved sides.", + "Pick up the ceramic bowl, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the ceramic bowl.", + "Lift the ceramic bowl, stack it precisely on top of the blue bowl.", + "Lift the small bowl with brown edge, put it on the table, and stack the glazed bowl with curved sides above.", + "Place the bowl with shiny texture on the surface, then stack the bowl with shiny texture above it.", + "Set the bowl with brown outer rim down, then add the bowl with brown outer rim over it.", + "Take the rounded bowl with light blue color, align the small bowl with brown edge, and stack them.", + "Grab the small bowl with brown edge with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.", + "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Lift the ceramic bowl and position it neatly over the bowl with shiny texture.", + "Grab the dark inside bowl light blue outside, set it down, then place the dark inside bowl light blue outside over it.", + "Lift the blue bowl, then stack it on the ceramic bowl.", + "Pick the ceramic bowl, then stack the bowl with brown outer rim on it.", + "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.", + "Position the rounded bowl with light blue color with the arm, then set the dark inside bowl light blue outside above it.", + "Pick up the glazed bowl with curved sides using the left arm, then stack the curved bowl light blue shade using the right arm.", + "Use the left arm for the blue bowl, place it, and stack the blue bowl with slightly rounded base with the right arm.", + "Position the glazed bowl with curved sides and stack the medium-sized bowl for holding food securely onto it.", + "Pick the blue bowl, position on the table, and place the blue bowl with slightly rounded base over it.", + "the bowl with brown outer rim goes at the bottom, the bowl with brown outer rim rests above.", + "Grab the medium-sized bowl for holding food, then carefully place the blue bowl on top.", + "Position the curved bowl light blue shade carefully on the curved bowl light blue shade.", + "Pick up the blue bowl and set the curved bowl light blue shade on it.", + "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.", + "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl with earthy brown trim on top.", + "Place the blue bowl with slightly rounded base down and stack the medium-sized bowl for holding food on top.", + "Position the ceramic bowl, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the ceramic bowl.", + "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.", + "Take the blue bowl, place the dark inside bowl light blue outside above, and let go.", + "Stack the rounded bowl with light blue color securely on top of the dark inside bowl light blue outside.", + "Lift the bowl with shiny texture, position the blue bowl above it, and stack.", + "Stack the bowl with shiny texture carefully over the dark inside bowl light blue outside.", + "Use the arm to place the ceramic bowl with earthy brown trim, then stack the glazed bowl with curved sides on top.", + "Grab the ceramic bowl, position it, and place the bowl with brown outer rim on top." + ], + "unseen": [ + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode24.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..9baca4bd952b1e85704a6f6eb676357ae382db32 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the curved bowl light blue shade, place the blue bowl above, and let go.", + "Grasp the bowl with brown outer rim, then use the arm to align and stack the ceramic bowl.", + "Take the rounded bowl with light blue color, place it, and stack the dark inside bowl light blue outside on top.", + "Lift the bowl with brown outer rim, then stack it on the medium-sized bowl for holding food.", + "Grab the curved bowl light blue shade with the left arm, place it, and stack the ceramic bowl with the left arm.", + "Use the left arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the left arm.", + "Align the dark inside bowl light blue outside and the blue bowl, then stack the blue bowl on the dark inside bowl light blue outside.", + "Lift the bowl with shiny texture and position it neatly over the ceramic bowl.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the curved bowl light blue shade over it.", + "Grab the dark inside bowl light blue outside, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Lift the blue bowl, put it on the table, and stack the dark inside bowl light blue outside above.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.", + "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.", + "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it.", + "Set down the curved bowl light blue shade and drop the dark inside bowl light blue outside on top.", + "Put the small bowl with brown edge first, then bring the blue bowl with slightly rounded base to stack above.", + "With the left arm, lift the rounded bowl with light blue color and stack the dark inside bowl light blue outside using the left arm.", + "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.", + "Lift the bowl with shiny texture, lay it down, and stack the medium-sized bowl for holding food on top.", + "Pick the bowl with shiny texture, position the rounded bowl with light blue color, and place it over the bowl with shiny texture.", + "Pick up the bowl with shiny texture using the left arm, then stack the dark inside bowl light blue outside using the left arm.", + "Grab the blue bowl, then carefully place the ceramic bowl on top.", + "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl.", + "Align the bowl with shiny texture over the ceramic bowl with earthy brown trim, then complete the stack.", + "Pick the small bowl with brown edge, then stack the curved bowl light blue shade on it.", + "Take the blue bowl with slightly rounded base, position it, then stack the bowl with shiny texture directly above.", + "Pick up the medium-sized bowl for holding food and set the bowl with shiny texture on it.", + "Hold the ceramic bowl with earthy brown trim steady and slide the small bowl with brown edge on.", + "Place the small bowl with brown edge down, then set the curved bowl light blue shade above it.", + "Pick the medium-sized bowl for holding food, position on the table, and place the curved bowl light blue shade over it.", + "Position the rounded bowl with light blue color and stack the blue bowl securely onto it.", + "Position the glazed bowl with curved sides with the arm, then set the rounded bowl with light blue color above it.", + "Position the glazed bowl with curved sides carefully on the ceramic bowl with earthy brown trim.", + "Place the bowl with shiny texture down, then set the blue bowl on top of the bowl with shiny texture.", + "Lift the ceramic bowl using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.", + "Take the glazed bowl with curved sides, align the ceramic bowl, and stack them.", + "Pick up the blue bowl, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Pick up the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.", + "Place the small bowl with brown edge down and stack the ceramic bowl with earthy brown trim on top.", + "Arrange the blue bowl, lift the bowl with shiny texture with the arm, and stack them.", + "Lift the glazed bowl with curved sides, position the blue bowl with slightly rounded base above it, and stack.", + "Grab the blue bowl with slightly rounded base, position it, and place the bowl with shiny texture on top.", + "Position the rounded bowl with light blue color, lift the small bowl with brown edge, and place the small bowl with brown edge on the rounded bowl with light blue color.", + "Set the bowl with shiny texture over the ceramic bowl with earthy brown trim to create the stack.", + "Lift the blue bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the blue bowl.", + "Grab the rounded bowl with light blue color, then stack the ceramic bowl on top.", + "Hold the small bowl with brown edge and stack the blue bowl with slightly rounded base neatly atop.", + "Use the arm to place the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.", + "Set the small bowl with brown edge down, then add the blue bowl over it.", + "Take the medium-sized bowl for holding food, place the glazed bowl with curved sides above, and let go.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the curved bowl light blue shade.", + "Take the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides on top.", + "Lift the bowl with shiny texture, then stack it on the bowl with shiny texture.", + "Grab the bowl with shiny texture with the left arm, place it, and stack the blue bowl with the left arm.", + "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim with the left arm.", + "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Lift the small bowl with brown edge and position it neatly over the dark inside bowl light blue outside.", + "Grab the small bowl with brown edge, set it down, then place the blue bowl over it.", + "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.", + "Lift the small bowl with brown edge, put it on the table, and stack the bowl with brown outer rim above.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl.", + "Stack the bowl with shiny texture securely on top of the blue bowl with slightly rounded base.", + "Place the bowl with brown outer rim on the surface, then stack the blue bowl with slightly rounded base above it.", + "Set down the small bowl with brown edge and drop the ceramic bowl with earthy brown trim on top.", + "Put the medium-sized bowl for holding food first, then bring the small bowl with brown edge to stack above.", + "With the left arm, lift the bowl with shiny texture and stack the dark inside bowl light blue outside using the left arm.", + "the medium-sized bowl for holding food goes at the bottom, the small bowl with brown edge rests above.", + "Lift the curved bowl light blue shade, lay it down, and stack the glazed bowl with curved sides on top.", + "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.", + "Pick up the curved bowl light blue shade using the left arm, then stack the small bowl with brown edge using the left arm.", + "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.", + "Stack the glazed bowl with curved sides carefully over the dark inside bowl light blue outside.", + "Align the ceramic bowl with earthy brown trim over the bowl with shiny texture, then complete the stack.", + "Pick the curved bowl light blue shade, then stack the rounded bowl with light blue color on it.", + "Take the medium-sized bowl for holding food, position it, then stack the blue bowl directly above.", + "Pick up the ceramic bowl and set the blue bowl on it.", + "Hold the rounded bowl with light blue color steady and slide the curved bowl light blue shade on.", + "Place the small bowl with brown edge down, then set the small bowl with brown edge above it.", + "Pick the curved bowl light blue shade, position on the table, and place the blue bowl over it.", + "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.", + "Position the small bowl with brown edge with the arm, then set the dark inside bowl light blue outside above it.", + "Position the glazed bowl with curved sides carefully on the ceramic bowl with earthy brown trim.", + "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.", + "Lift the ceramic bowl using the left arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Take the bowl with brown outer rim, align the blue bowl with slightly rounded base, and stack them.", + "Pick up the medium-sized bowl for holding food, place it down, then position the glazed bowl with curved sides on top.", + "Pick up the dark inside bowl light blue outside, grab the bowl with shiny texture, and stack the bowl with shiny texture on the dark inside bowl light blue outside.", + "Place the curved bowl light blue shade down and stack the ceramic bowl with earthy brown trim on top.", + "Arrange the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food with the arm, and stack them.", + "Lift the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base above it, and stack.", + "Grab the bowl with brown outer rim, position it, and place the blue bowl with slightly rounded base on top.", + "Position the dark inside bowl light blue outside, lift the ceramic bowl, and place the ceramic bowl on the dark inside bowl light blue outside.", + "Set the blue bowl over the rounded bowl with light blue color to create the stack.", + "Lift the bowl with brown outer rim, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with brown outer rim.", + "Grab the blue bowl, then stack the bowl with shiny texture on top.", + "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.", + "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.", + "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.", + "Take the ceramic bowl with earthy brown trim, place the rounded bowl with light blue color above, and let go.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim." + ], + "unseen": [ + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode25.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..83c1ab2d4e4d5400839bef677277a8e34a132e0c --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the rounded bowl with light blue color down, then add the bowl with shiny texture over it.", + "Take the medium-sized bowl for holding food, place the dark inside bowl light blue outside above, and let go.", + "Place the blue bowl down and stack the blue bowl with slightly rounded base on top.", + "Take the ceramic bowl, align the small bowl with brown edge, and stack them.", + "Hold the ceramic bowl and stack the bowl with shiny texture neatly atop.", + "Grab the blue bowl, then stack the medium-sized bowl for holding food on top.", + "Pick up the glazed bowl with curved sides and set the blue bowl on it.", + "Position the medium-sized bowl for holding food carefully on the small bowl with brown edge.", + "With the right arm, lift the ceramic bowl and stack the ceramic bowl using the left arm.", + "Stack the dark inside bowl light blue outside securely on top of the curved bowl light blue shade.", + "Place the blue bowl down, then set the bowl with shiny texture above it.", + "Take the ceramic bowl, place it, and stack the dark inside bowl light blue outside on top.", + "Put the dark inside bowl light blue outside first, then bring the rounded bowl with light blue color to stack above.", + "Lift the rounded bowl with light blue color, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the rounded bowl with light blue color.", + "Lift the bowl with shiny texture, put it on the table, and stack the bowl with shiny texture above.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with shiny texture, and stack them.", + "Pick the ceramic bowl, position on the table, and place the small bowl with brown edge over it.", + "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Pick the small bowl with brown edge, position the blue bowl with slightly rounded base, and place it over the small bowl with brown edge.", + "Place the blue bowl on the surface, then stack the blue bowl with slightly rounded base above it.", + "Align the curved bowl light blue shade over the blue bowl, then complete the stack.", + "Set the medium-sized bowl for holding food over the curved bowl light blue shade to create the stack.", + "Lift the dark inside bowl light blue outside and position it neatly over the curved bowl light blue shade.", + "Lift the small bowl with brown edge, position the bowl with brown outer rim above it, and stack.", + "Lift the bowl with shiny texture, stack it precisely on top of the curved bowl light blue shade.", + "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.", + "Position the blue bowl and stack the small bowl with brown edge securely onto it.", + "Use the right arm for the bowl with shiny texture, place it, and stack the curved bowl light blue shade with the left arm.", + "Align the bowl with shiny texture and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the bowl with shiny texture.", + "the curved bowl light blue shade goes at the bottom, the curved bowl light blue shade rests above.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the glazed bowl with curved sides using the left arm.", + "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim with the arm, and stack them.", + "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.", + "Pick the bowl with brown outer rim, then stack the medium-sized bowl for holding food on it.", + "Hold the rounded bowl with light blue color steady and slide the small bowl with brown edge on.", + "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.", + "Grab the dark inside bowl light blue outside, then carefully place the small bowl with brown edge on top.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl with slightly rounded base over it.", + "Set down the glazed bowl with curved sides and drop the dark inside bowl light blue outside on top.", + "Pick up the bowl with shiny texture, place it down, then position the blue bowl on top.", + "Place the blue bowl down, then set the rounded bowl with light blue color on top of the blue bowl.", + "Grab the dark inside bowl light blue outside, position it, and place the curved bowl light blue shade on top.", + "Pick up the ceramic bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the ceramic bowl.", + "Take the ceramic bowl, position it, then stack the blue bowl directly above.", + "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.", + "Position the blue bowl with slightly rounded base, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl with slightly rounded base.", + "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Stack the glazed bowl with curved sides carefully over the blue bowl.", + "Position the bowl with brown outer rim with the arm, then set the ceramic bowl above it.", + "Set the ceramic bowl down, then add the dark inside bowl light blue outside over it.", + "Take the blue bowl, place the small bowl with brown edge above, and let go.", + "Place the bowl with shiny texture down and stack the ceramic bowl on top.", + "Take the glazed bowl with curved sides, align the dark inside bowl light blue outside, and stack them.", + "Hold the bowl with brown outer rim and stack the medium-sized bowl for holding food neatly atop.", + "Grab the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.", + "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it.", + "Position the glazed bowl with curved sides carefully on the bowl with brown outer rim.", + "With the right arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim using the left arm.", + "Stack the glazed bowl with curved sides securely on top of the ceramic bowl.", + "Place the bowl with brown outer rim down, then set the blue bowl above it.", + "Take the bowl with shiny texture, place it, and stack the small bowl with brown edge on top.", + "Put the blue bowl first, then bring the curved bowl light blue shade to stack above.", + "Lift the dark inside bowl light blue outside, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the dark inside bowl light blue outside.", + "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl above.", + "Grab the bowl with brown outer rim, lift it up, position the bowl with brown outer rim, and stack them.", + "Pick the small bowl with brown edge, position on the table, and place the rounded bowl with light blue color over it.", + "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with the left arm.", + "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.", + "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.", + "Align the bowl with shiny texture over the dark inside bowl light blue outside, then complete the stack.", + "Set the dark inside bowl light blue outside over the dark inside bowl light blue outside to create the stack.", + "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.", + "Lift the glazed bowl with curved sides, position the glazed bowl with curved sides above it, and stack.", + "Lift the ceramic bowl, stack it precisely on top of the ceramic bowl.", + "Lift the glazed bowl with curved sides, lay it down, and stack the medium-sized bowl for holding food on top.", + "Position the ceramic bowl and stack the rounded bowl with light blue color securely onto it.", + "Use the right arm for the bowl with shiny texture, place it, and stack the bowl with brown outer rim with the left arm.", + "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.", + "the dark inside bowl light blue outside goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Pick up the rounded bowl with light blue color using the right arm, then stack the medium-sized bowl for holding food using the left arm.", + "Arrange the bowl with shiny texture, lift the medium-sized bowl for holding food with the arm, and stack them.", + "Lift the bowl with brown outer rim using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.", + "Pick the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on it.", + "Hold the blue bowl with slightly rounded base steady and slide the ceramic bowl with earthy brown trim on.", + "Lift the bowl with brown outer rim, then stack it on the bowl with shiny texture.", + "Grab the bowl with brown outer rim, then carefully place the bowl with shiny texture on top.", + "Grab the blue bowl with slightly rounded base, set it down, then place the small bowl with brown edge over it.", + "Set down the bowl with shiny texture and drop the dark inside bowl light blue outside on top.", + "Pick up the bowl with shiny texture, place it down, then position the bowl with shiny texture on top.", + "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base on top of the medium-sized bowl for holding food.", + "Grab the rounded bowl with light blue color, position it, and place the bowl with brown outer rim on top.", + "Pick up the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the medium-sized bowl for holding food.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.", + "Use the arm to place the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.", + "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the small bowl with brown edge.", + "Stack the rounded bowl with light blue color carefully over the dark inside bowl light blue outside.", + "Position the ceramic bowl with the arm, then set the rounded bowl with light blue color above it.", + "Set the bowl with shiny texture down, then add the bowl with shiny texture over it.", + "Take the curved bowl light blue shade, place the bowl with brown outer rim above, and let go." + ], + "unseen": [ + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode26.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..d78be6370c2f331d0fda1977ee92c1510ee2d508 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the ceramic bowl down, then set the bowl with brown outer rim on top of the ceramic bowl.", + "Arrange the medium-sized bowl for holding food, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Pick up the small bowl with brown edge and set the glazed bowl with curved sides on it.", + "Set down the ceramic bowl with earthy brown trim and drop the glazed bowl with curved sides on top.", + "Take the dark inside bowl light blue outside, position it, then stack the curved bowl light blue shade directly above.", + "Align the bowl with brown outer rim over the ceramic bowl with earthy brown trim, then complete the stack.", + "Position the bowl with shiny texture, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with shiny texture.", + "Grab the ceramic bowl, position it, and place the ceramic bowl on top.", + "Use the arm to place the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.", + "With the right arm, lift the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim using the left arm.", + "Put the bowl with brown outer rim first, then bring the curved bowl light blue shade to stack above.", + "Position the dark inside bowl light blue outside with the arm, then set the bowl with brown outer rim above it.", + "Align the bowl with brown outer rim and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with brown outer rim.", + "Lift the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.", + "Pick up the ceramic bowl, place it down, then position the curved bowl light blue shade on top.", + "Place the curved bowl light blue shade on the surface, then stack the ceramic bowl above it.", + "Take the glazed bowl with curved sides, place it, and stack the blue bowl on top.", + "Hold the dark inside bowl light blue outside and stack the rounded bowl with light blue color neatly atop.", + "Stack the curved bowl light blue shade carefully over the glazed bowl with curved sides.", + "Lift the small bowl with brown edge, position the dark inside bowl light blue outside above it, and stack.", + "Pick the blue bowl, then stack the bowl with brown outer rim on it.", + "Lift the rounded bowl with light blue color, lay it down, and stack the medium-sized bowl for holding food on top.", + "Pick the blue bowl with slightly rounded base, position the ceramic bowl, and place it over the blue bowl with slightly rounded base.", + "Grab the bowl with shiny texture, then carefully place the small bowl with brown edge on top.", + "Hold the dark inside bowl light blue outside steady and slide the glazed bowl with curved sides on.", + "Place the blue bowl down, then set the glazed bowl with curved sides above it.", + "Lift the blue bowl, stack it precisely on top of the dark inside bowl light blue outside.", + "Lift the blue bowl using the right arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Take the blue bowl with slightly rounded base, align the blue bowl with slightly rounded base, and stack them.", + "Set the bowl with shiny texture over the medium-sized bowl for holding food to create the stack.", + "Use the right arm for the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color with the left arm.", + "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl.", + "Lift the blue bowl and position it neatly over the blue bowl.", + "Place the bowl with shiny texture down and stack the dark inside bowl light blue outside on top.", + "Pick up the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the glazed bowl with curved sides.", + "Set the rounded bowl with light blue color down, then add the small bowl with brown edge over it.", + "the blue bowl with slightly rounded base goes at the bottom, the blue bowl rests above.", + "Lift the bowl with brown outer rim, put it on the table, and stack the small bowl with brown edge above.", + "Position the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base securely onto it.", + "Grab the bowl with brown outer rim, then stack the curved bowl light blue shade on top.", + "Position the bowl with shiny texture carefully on the glazed bowl with curved sides.", + "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with brown outer rim.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the small bowl with brown edge.", + "Grab the blue bowl with slightly rounded base, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the bowl with shiny texture with the left arm.", + "Pick the ceramic bowl, position on the table, and place the dark inside bowl light blue outside over it.", + "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the blue bowl with slightly rounded base using the left arm.", + "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.", + "Place the rounded bowl with light blue color down, then set the blue bowl on top of the rounded bowl with light blue color.", + "Arrange the rounded bowl with light blue color, lift the blue bowl with slightly rounded base with the arm, and stack them.", + "Pick up the curved bowl light blue shade and set the bowl with shiny texture on it.", + "Set down the curved bowl light blue shade and drop the curved bowl light blue shade on top.", + "Take the dark inside bowl light blue outside, position it, then stack the blue bowl directly above.", + "Align the bowl with shiny texture over the bowl with shiny texture, then complete the stack.", + "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.", + "Grab the small bowl with brown edge, position it, and place the glazed bowl with curved sides on top.", + "Use the arm to place the glazed bowl with curved sides, then stack the blue bowl on top.", + "With the right arm, lift the dark inside bowl light blue outside and stack the medium-sized bowl for holding food using the left arm.", + "Put the ceramic bowl first, then bring the bowl with brown outer rim to stack above.", + "Position the bowl with brown outer rim with the arm, then set the curved bowl light blue shade above it.", + "Align the bowl with shiny texture and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the bowl with shiny texture.", + "Lift the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the dark inside bowl light blue outside.", + "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.", + "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Take the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides on top.", + "Hold the small bowl with brown edge and stack the rounded bowl with light blue color neatly atop.", + "Stack the medium-sized bowl for holding food carefully over the rounded bowl with light blue color.", + "Lift the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides above it, and stack.", + "Pick the small bowl with brown edge, then stack the bowl with shiny texture on it.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Pick the dark inside bowl light blue outside, position the ceramic bowl, and place it over the dark inside bowl light blue outside.", + "Grab the rounded bowl with light blue color, then carefully place the bowl with shiny texture on top.", + "Hold the medium-sized bowl for holding food steady and slide the small bowl with brown edge on.", + "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.", + "Lift the bowl with shiny texture, stack it precisely on top of the medium-sized bowl for holding food.", + "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.", + "Take the curved bowl light blue shade, align the small bowl with brown edge, and stack them.", + "Set the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim to create the stack.", + "Use the right arm for the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.", + "Lift the curved bowl light blue shade, then stack it on the small bowl with brown edge.", + "Lift the curved bowl light blue shade and position it neatly over the rounded bowl with light blue color.", + "Place the glazed bowl with curved sides down and stack the bowl with shiny texture on top.", + "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.", + "Set the medium-sized bowl for holding food down, then add the ceramic bowl with earthy brown trim over it.", + "the blue bowl with slightly rounded base goes at the bottom, the medium-sized bowl for holding food rests above.", + "Lift the rounded bowl with light blue color, put it on the table, and stack the dark inside bowl light blue outside above.", + "Position the bowl with brown outer rim and stack the bowl with shiny texture securely onto it.", + "Grab the ceramic bowl, then stack the small bowl with brown edge on top.", + "Position the blue bowl with slightly rounded base carefully on the small bowl with brown edge.", + "Stack the dark inside bowl light blue outside securely on top of the glazed bowl with curved sides.", + "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the glazed bowl with curved sides.", + "Grab the small bowl with brown edge, lift it up, position the bowl with brown outer rim, and stack them.", + "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the bowl with shiny texture with the left arm.", + "Pick the bowl with shiny texture, position on the table, and place the rounded bowl with light blue color over it.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the blue bowl using the left arm.", + "Take the medium-sized bowl for holding food, place the dark inside bowl light blue outside above, and let go.", + "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge on top of the blue bowl with slightly rounded base.", + "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them." + ], + "unseen": [ + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode27.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..cb30eeaaa157d8a2df56972694fe01fa07526a96 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the bowl with brown outer rim down and stack the bowl with shiny texture on top.", + "Put the blue bowl with slightly rounded base first, then bring the blue bowl with slightly rounded base to stack above.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the glazed bowl with curved sides on top.", + "Set down the ceramic bowl and drop the bowl with brown outer rim on top.", + "Position the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base securely onto it.", + "Take the ceramic bowl with earthy brown trim, align the curved bowl light blue shade, and stack them.", + "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with shiny texture on top.", + "Pick up the dark inside bowl light blue outside, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the dark inside bowl light blue outside.", + "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl above.", + "Lift the small bowl with brown edge and position it neatly over the ceramic bowl.", + "Pick the ceramic bowl, then stack the small bowl with brown edge on it.", + "Lift the curved bowl light blue shade, grab the small bowl with brown edge, and set the small bowl with brown edge on the curved bowl light blue shade.", + "Align the medium-sized bowl for holding food over the curved bowl light blue shade, then complete the stack.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the medium-sized bowl for holding food.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl with earthy brown trim above it.", + "With the right arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the left arm.", + "Grab the rounded bowl with light blue color, set it down, then place the blue bowl over it.", + "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Hold the small bowl with brown edge steady and slide the ceramic bowl on.", + "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl with earthy brown trim.", + "Use the arm to place the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.", + "Pick up the medium-sized bowl for holding food and set the small bowl with brown edge on it.", + "Grab the glazed bowl with curved sides, then carefully place the blue bowl on top.", + "Hold the blue bowl with slightly rounded base and stack the curved bowl light blue shade neatly atop.", + "Take the small bowl with brown edge, place it, and stack the curved bowl light blue shade on top.", + "Grab the bowl with brown outer rim, lift it up, position the bowl with brown outer rim, and stack them.", + "Lift the glazed bowl with curved sides, position the small bowl with brown edge above it, and stack.", + "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade with the left arm.", + "Place the dark inside bowl light blue outside down, then set the ceramic bowl on top of the dark inside bowl light blue outside.", + "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl on top.", + "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.", + "Set the bowl with brown outer rim over the ceramic bowl with earthy brown trim to create the stack.", + "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with the left arm.", + "Pick the ceramic bowl with earthy brown trim, position the curved bowl light blue shade, and place it over the ceramic bowl with earthy brown trim.", + "Take the bowl with brown outer rim, position it, then stack the glazed bowl with curved sides directly above.", + "Lift the medium-sized bowl for holding food, then stack it on the rounded bowl with light blue color.", + "Position the blue bowl carefully on the bowl with brown outer rim.", + "Align the small bowl with brown edge and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the small bowl with brown edge.", + "Pick the small bowl with brown edge, position on the table, and place the dark inside bowl light blue outside over it.", + "Take the rounded bowl with light blue color, place the medium-sized bowl for holding food above, and let go.", + "Pick up the curved bowl light blue shade using the right arm, then stack the blue bowl using the left arm.", + "Stack the glazed bowl with curved sides carefully over the dark inside bowl light blue outside.", + "Lift the bowl with brown outer rim, stack it precisely on top of the small bowl with brown edge.", + "Lift the blue bowl using the right arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl over it.", + "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.", + "Stack the glazed bowl with curved sides securely on top of the bowl with brown outer rim.", + "Place the bowl with shiny texture down, then set the blue bowl above it.", + "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with shiny texture above it.", + "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.", + "Put the ceramic bowl with earthy brown trim first, then bring the glazed bowl with curved sides to stack above.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the rounded bowl with light blue color on top.", + "Set down the bowl with shiny texture and drop the curved bowl light blue shade on top.", + "Position the blue bowl and stack the blue bowl with slightly rounded base securely onto it.", + "Take the glazed bowl with curved sides, align the dark inside bowl light blue outside, and stack them.", + "Pick up the curved bowl light blue shade, place it down, then position the medium-sized bowl for holding food on top.", + "Pick up the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the blue bowl with slightly rounded base.", + "Lift the ceramic bowl, put it on the table, and stack the small bowl with brown edge above.", + "Lift the blue bowl with slightly rounded base and position it neatly over the rounded bowl with light blue color.", + "Pick the blue bowl, then stack the small bowl with brown edge on it.", + "Lift the ceramic bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl.", + "Align the dark inside bowl light blue outside over the bowl with brown outer rim, then complete the stack.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.", + "Position the bowl with shiny texture with the arm, then set the bowl with brown outer rim above it.", + "With the right arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the left arm.", + "Grab the blue bowl with slightly rounded base, set it down, then place the medium-sized bowl for holding food over it.", + "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with the arm, and stack them.", + "Hold the small bowl with brown edge steady and slide the blue bowl with slightly rounded base on.", + "Position the blue bowl, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the blue bowl.", + "Use the arm to place the bowl with shiny texture, then stack the bowl with brown outer rim on top.", + "Pick up the small bowl with brown edge and set the bowl with brown outer rim on it.", + "Grab the blue bowl with slightly rounded base, then carefully place the bowl with brown outer rim on top.", + "Hold the small bowl with brown edge and stack the blue bowl neatly atop.", + "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl on top.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with shiny texture, and stack them.", + "Lift the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside above it, and stack.", + "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides with the left arm.", + "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim on top of the small bowl with brown edge.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the curved bowl light blue shade on top.", + "the blue bowl with slightly rounded base goes at the bottom, the dark inside bowl light blue outside rests above.", + "Set the bowl with brown outer rim over the ceramic bowl to create the stack.", + "Grab the bowl with brown outer rim with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Pick the bowl with brown outer rim, position the curved bowl light blue shade, and place it over the bowl with brown outer rim.", + "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.", + "Lift the ceramic bowl, then stack it on the rounded bowl with light blue color.", + "Position the blue bowl with slightly rounded base carefully on the blue bowl.", + "Align the ceramic bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl.", + "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl over it.", + "Take the small bowl with brown edge, place the bowl with shiny texture above, and let go.", + "Pick up the ceramic bowl using the right arm, then stack the medium-sized bowl for holding food using the left arm.", + "Stack the dark inside bowl light blue outside carefully over the medium-sized bowl for holding food.", + "Lift the bowl with shiny texture, stack it precisely on top of the glazed bowl with curved sides.", + "Lift the bowl with brown outer rim using the right arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Set the blue bowl with slightly rounded base down, then add the medium-sized bowl for holding food over it.", + "Grab the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.", + "Stack the rounded bowl with light blue color securely on top of the rounded bowl with light blue color.", + "Place the curved bowl light blue shade down, then set the medium-sized bowl for holding food above it.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl above it.", + "Place the glazed bowl with curved sides down and stack the ceramic bowl on top.", + "Put the curved bowl light blue shade first, then bring the medium-sized bowl for holding food to stack above." + ], + "unseen": [ + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode28.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..00f1528094a07ee50f319e1f8580a80af26e5a92 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.", + "Pick up the curved bowl light blue shade and set the small bowl with brown edge on it.", + "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.", + "Use the left arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the left arm.", + "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.", + "Put the ceramic bowl with earthy brown trim first, then bring the ceramic bowl with earthy brown trim to stack above.", + "Arrange the curved bowl light blue shade, lift the bowl with shiny texture with the arm, and stack them.", + "Lift the small bowl with brown edge, position the blue bowl with slightly rounded base above it, and stack.", + "Grab the ceramic bowl, position it, and place the bowl with brown outer rim on top.", + "Place the ceramic bowl down, then set the bowl with brown outer rim on top of the ceramic bowl.", + "Align the bowl with shiny texture and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the bowl with shiny texture.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.", + "Set the blue bowl with slightly rounded base over the bowl with shiny texture to create the stack.", + "Position the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.", + "the rounded bowl with light blue color goes at the bottom, the medium-sized bowl for holding food rests above.", + "Stack the blue bowl with slightly rounded base securely on top of the glazed bowl with curved sides.", + "Position the bowl with shiny texture carefully on the small bowl with brown edge.", + "Pick up the rounded bowl with light blue color using the left arm, then stack the bowl with brown outer rim using the left arm.", + "Take the bowl with brown outer rim, place it, and stack the small bowl with brown edge on top.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Align the medium-sized bowl for holding food over the curved bowl light blue shade, then complete the stack.", + "Set down the rounded bowl with light blue color and drop the curved bowl light blue shade on top.", + "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl with earthy brown trim.", + "Lift the blue bowl with slightly rounded base, stack it precisely on top of the small bowl with brown edge.", + "Lift the curved bowl light blue shade and position it neatly over the medium-sized bowl for holding food.", + "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.", + "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.", + "Lift the blue bowl, lay it down, and stack the medium-sized bowl for holding food on top.", + "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Take the ceramic bowl with earthy brown trim, place the small bowl with brown edge above, and let go.", + "Pick up the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.", + "Pick the dark inside bowl light blue outside, position on the table, and place the medium-sized bowl for holding food over it.", + "Lift the blue bowl with slightly rounded base, put it on the table, and stack the curved bowl light blue shade above.", + "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the medium-sized bowl for holding food.", + "Place the bowl with brown outer rim down and stack the curved bowl light blue shade on top.", + "Hold the bowl with shiny texture steady and slide the rounded bowl with light blue color on.", + "Position the bowl with shiny texture and stack the ceramic bowl securely onto it.", + "Grab the bowl with shiny texture, then carefully place the bowl with brown outer rim on top.", + "Hold the medium-sized bowl for holding food and stack the blue bowl neatly atop.", + "Place the small bowl with brown edge on the surface, then stack the curved bowl light blue shade above it.", + "Grab the ceramic bowl, set it down, then place the medium-sized bowl for holding food over it.", + "Lift the blue bowl with slightly rounded base, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl with slightly rounded base.", + "Pick up the bowl with shiny texture, place it down, then position the medium-sized bowl for holding food on top.", + "Take the rounded bowl with light blue color, align the small bowl with brown edge, and stack them.", + "Pick the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim, and place it over the blue bowl with slightly rounded base.", + "Grab the small bowl with brown edge with the left arm, place it, and stack the curved bowl light blue shade with the left arm.", + "Stack the curved bowl light blue shade carefully over the curved bowl light blue shade.", + "With the left arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl using the left arm.", + "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.", + "Grab the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.", + "Pick up the bowl with shiny texture and set the ceramic bowl on it.", + "Pick the medium-sized bowl for holding food, then stack the bowl with brown outer rim on it.", + "Use the left arm for the bowl with brown outer rim, place it, and stack the curved bowl light blue shade with the left arm.", + "Use the arm to place the bowl with shiny texture, then stack the rounded bowl with light blue color on top.", + "Put the bowl with shiny texture first, then bring the ceramic bowl to stack above.", + "Arrange the ceramic bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.", + "Lift the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim above it, and stack.", + "Grab the dark inside bowl light blue outside, position it, and place the blue bowl with slightly rounded base on top.", + "Place the blue bowl down, then set the ceramic bowl on top of the blue bowl.", + "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.", + "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.", + "Set the ceramic bowl over the curved bowl light blue shade to create the stack.", + "Position the blue bowl with slightly rounded base, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl with slightly rounded base.", + "the bowl with shiny texture goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Stack the bowl with shiny texture securely on top of the dark inside bowl light blue outside.", + "Position the ceramic bowl carefully on the curved bowl light blue shade.", + "Pick up the dark inside bowl light blue outside using the left arm, then stack the ceramic bowl using the left arm.", + "Take the ceramic bowl with earthy brown trim, place it, and stack the bowl with brown outer rim on top.", + "Position the curved bowl light blue shade with the arm, then set the small bowl with brown edge above it.", + "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack.", + "Set down the blue bowl and drop the dark inside bowl light blue outside on top.", + "Lift the glazed bowl with curved sides, then stack it on the rounded bowl with light blue color.", + "Lift the blue bowl, stack it precisely on top of the dark inside bowl light blue outside.", + "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.", + "Set the glazed bowl with curved sides down, then add the small bowl with brown edge over it.", + "Grab the bowl with shiny texture, lift it up, position the bowl with shiny texture, and stack them.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the glazed bowl with curved sides on top.", + "Lift the ceramic bowl using the left arm, set it down, and stack the ceramic bowl using the left arm.", + "Take the glazed bowl with curved sides, place the curved bowl light blue shade above, and let go.", + "Pick up the glazed bowl with curved sides, grab the blue bowl, and stack the blue bowl on the glazed bowl with curved sides.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl over it.", + "Lift the bowl with shiny texture, put it on the table, and stack the rounded bowl with light blue color above.", + "Grasp the blue bowl, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Place the blue bowl down and stack the small bowl with brown edge on top.", + "Hold the medium-sized bowl for holding food steady and slide the bowl with brown outer rim on.", + "Position the glazed bowl with curved sides and stack the curved bowl light blue shade securely onto it.", + "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl on top.", + "Hold the blue bowl with slightly rounded base and stack the rounded bowl with light blue color neatly atop.", + "Place the rounded bowl with light blue color on the surface, then stack the dark inside bowl light blue outside above it.", + "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl with slightly rounded base over it.", + "Lift the ceramic bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl.", + "Pick up the rounded bowl with light blue color, place it down, then position the dark inside bowl light blue outside on top.", + "Take the rounded bowl with light blue color, align the bowl with shiny texture, and stack them.", + "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.", + "Grab the curved bowl light blue shade with the left arm, place it, and stack the bowl with brown outer rim with the left arm.", + "Stack the glazed bowl with curved sides carefully over the rounded bowl with light blue color.", + "With the left arm, lift the glazed bowl with curved sides and stack the ceramic bowl using the left arm.", + "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color above it.", + "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.", + "Pick up the rounded bowl with light blue color and set the blue bowl on it." + ], + "unseen": [ + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode29.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..7e37b0fcdaa44c4f8184bf16a90bc54105fc033c --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the rounded bowl with light blue color, place the curved bowl light blue shade above, and let go.", + "Set the bowl with brown outer rim over the blue bowl to create the stack.", + "Position the glazed bowl with curved sides with the arm, then set the glazed bowl with curved sides above it.", + "Arrange the glazed bowl with curved sides, lift the bowl with shiny texture with the arm, and stack them.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the rounded bowl with light blue color with the left arm.", + "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside on top of the bowl with shiny texture.", + "Place the blue bowl down, then set the dark inside bowl light blue outside above it.", + "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.", + "Take the rounded bowl with light blue color, align the small bowl with brown edge, and stack them.", + "Position the bowl with shiny texture, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with shiny texture.", + "Stack the ceramic bowl carefully over the ceramic bowl.", + "Hold the bowl with shiny texture steady and slide the blue bowl with slightly rounded base on.", + "Lift the glazed bowl with curved sides, lay it down, and stack the dark inside bowl light blue outside on top.", + "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade with the left arm.", + "Position the bowl with brown outer rim and stack the ceramic bowl securely onto it.", + "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.", + "Stack the ceramic bowl with earthy brown trim securely on top of the rounded bowl with light blue color.", + "Pick up the ceramic bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the ceramic bowl.", + "Grab the medium-sized bowl for holding food, then carefully place the curved bowl light blue shade on top.", + "Take the curved bowl light blue shade, position it, then stack the bowl with brown outer rim directly above.", + "Put the ceramic bowl first, then bring the ceramic bowl with earthy brown trim to stack above.", + "Grab the glazed bowl with curved sides, position it, and place the blue bowl with slightly rounded base on top.", + "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Place the ceramic bowl on the surface, then stack the glazed bowl with curved sides above it.", + "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.", + "Grab the rounded bowl with light blue color, set it down, then place the blue bowl over it.", + "Align the bowl with shiny texture and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with shiny texture.", + "Lift the blue bowl with slightly rounded base, put it on the table, and stack the small bowl with brown edge above.", + "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl over it.", + "Lift the medium-sized bowl for holding food and position it neatly over the rounded bowl with light blue color.", + "Pick the blue bowl with slightly rounded base, then stack the small bowl with brown edge on it.", + "the rounded bowl with light blue color goes at the bottom, the bowl with shiny texture rests above.", + "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the bowl with shiny texture using the left arm.", + "Lift the dark inside bowl light blue outside, position the ceramic bowl above it, and stack.", + "Pick up the curved bowl light blue shade and set the bowl with shiny texture on it.", + "With the left arm, lift the blue bowl and stack the medium-sized bowl for holding food using the left arm.", + "Set down the blue bowl with slightly rounded base and drop the small bowl with brown edge on top.", + "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.", + "Grasp the ceramic bowl, then use the arm to align and stack the bowl with shiny texture.", + "Place the ceramic bowl down and stack the curved bowl light blue shade on top.", + "Position the small bowl with brown edge carefully on the ceramic bowl with earthy brown trim.", + "Pick up the glazed bowl with curved sides, place it down, then position the rounded bowl with light blue color on top.", + "Lift the bowl with brown outer rim using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.", + "Lift the small bowl with brown edge, then stack it on the rounded bowl with light blue color.", + "Grab the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.", + "Hold the ceramic bowl and stack the blue bowl neatly atop.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the glazed bowl with curved sides, and stack them.", + "Set the bowl with shiny texture down, then add the curved bowl light blue shade over it.", + "Take the glazed bowl with curved sides, place the glazed bowl with curved sides above, and let go.", + "Set the small bowl with brown edge over the bowl with shiny texture to create the stack.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with shiny texture above it.", + "Arrange the curved bowl light blue shade, lift the bowl with brown outer rim with the arm, and stack them.", + "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl with slightly rounded base.", + "Grab the curved bowl light blue shade with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Place the blue bowl down, then set the ceramic bowl with earthy brown trim on top of the blue bowl.", + "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade above it.", + "Align the dark inside bowl light blue outside over the bowl with shiny texture, then complete the stack.", + "Take the ceramic bowl, align the bowl with brown outer rim, and stack them.", + "Position the small bowl with brown edge, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the small bowl with brown edge.", + "Stack the medium-sized bowl for holding food carefully over the bowl with shiny texture.", + "Hold the medium-sized bowl for holding food steady and slide the glazed bowl with curved sides on.", + "Lift the small bowl with brown edge, lay it down, and stack the dark inside bowl light blue outside on top.", + "Use the left arm for the small bowl with brown edge, place it, and stack the rounded bowl with light blue color with the left arm.", + "Position the glazed bowl with curved sides and stack the blue bowl securely onto it.", + "Lift the bowl with shiny texture, grab the blue bowl, and set the blue bowl on the bowl with shiny texture.", + "Stack the dark inside bowl light blue outside securely on top of the dark inside bowl light blue outside.", + "Pick up the blue bowl, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl.", + "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl with earthy brown trim on top.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the dark inside bowl light blue outside directly above.", + "Put the dark inside bowl light blue outside first, then bring the dark inside bowl light blue outside to stack above.", + "Grab the medium-sized bowl for holding food, position it, and place the rounded bowl with light blue color on top.", + "Take the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture on top.", + "Place the bowl with shiny texture on the surface, then stack the small bowl with brown edge above it.", + "Pick the bowl with shiny texture, position the small bowl with brown edge, and place it over the bowl with shiny texture.", + "Grab the blue bowl with slightly rounded base, set it down, then place the medium-sized bowl for holding food over it.", + "Align the curved bowl light blue shade and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the curved bowl light blue shade.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl above.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl with slightly rounded base over it.", + "Lift the blue bowl and position it neatly over the bowl with shiny texture.", + "Pick the curved bowl light blue shade, then stack the bowl with brown outer rim on it.", + "the ceramic bowl with earthy brown trim goes at the bottom, the small bowl with brown edge rests above.", + "Pick up the small bowl with brown edge using the left arm, then stack the bowl with brown outer rim using the left arm.", + "Lift the rounded bowl with light blue color, position the ceramic bowl above it, and stack.", + "Pick up the bowl with brown outer rim and set the blue bowl on it.", + "With the left arm, lift the bowl with brown outer rim and stack the blue bowl using the left arm.", + "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl with earthy brown trim on top.", + "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.", + "Place the curved bowl light blue shade down and stack the bowl with shiny texture on top.", + "Position the glazed bowl with curved sides carefully on the blue bowl with slightly rounded base.", + "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.", + "Lift the ceramic bowl using the left arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.", + "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.", + "Hold the bowl with shiny texture and stack the bowl with shiny texture neatly atop.", + "Grab the medium-sized bowl for holding food, lift it up, position the bowl with shiny texture, and stack them.", + "Set the bowl with shiny texture down, then add the rounded bowl with light blue color over it.", + "Take the blue bowl, place the bowl with shiny texture above, and let go.", + "Set the rounded bowl with light blue color over the medium-sized bowl for holding food to create the stack." + ], + "unseen": [ + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode3.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..6272ee59b5c6519209822e555cadb0ab79158b8a --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the curved bowl light blue shade, position it, then stack the ceramic bowl directly above.", + "Lift the rounded bowl with light blue color, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the rounded bowl with light blue color.", + "Arrange the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade with the arm, and stack them.", + "Grab the small bowl with brown edge, then carefully place the bowl with shiny texture on top.", + "Place the blue bowl down, then set the rounded bowl with light blue color above it.", + "Hold the glazed bowl with curved sides steady and slide the dark inside bowl light blue outside on.", + "With the right arm, lift the glazed bowl with curved sides and stack the small bowl with brown edge using the left arm.", + "Set down the curved bowl light blue shade and drop the ceramic bowl with earthy brown trim on top.", + "the small bowl with brown edge goes at the bottom, the curved bowl light blue shade rests above.", + "Position the dark inside bowl light blue outside carefully on the blue bowl with slightly rounded base.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on top.", + "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.", + "Set the blue bowl down, then add the medium-sized bowl for holding food over it.", + "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.", + "Lift the bowl with brown outer rim and position it neatly over the ceramic bowl.", + "Grab the curved bowl light blue shade, lift it up, position the bowl with brown outer rim, and stack them.", + "Grab the glazed bowl with curved sides, position it, and place the dark inside bowl light blue outside on top.", + "Take the curved bowl light blue shade, place it, and stack the bowl with shiny texture on top.", + "Place the bowl with shiny texture down and stack the curved bowl light blue shade on top.", + "Pick the curved bowl light blue shade, position the dark inside bowl light blue outside, and place it over the curved bowl light blue shade.", + "Position the glazed bowl with curved sides and stack the bowl with brown outer rim securely onto it.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl above it.", + "Grab the small bowl with brown edge, set it down, then place the rounded bowl with light blue color over it.", + "Use the right arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim with the left arm.", + "Place the glazed bowl with curved sides on the surface, then stack the curved bowl light blue shade above it.", + "Set the bowl with brown outer rim over the blue bowl to create the stack.", + "Pick up the dark inside bowl light blue outside and set the blue bowl on it.", + "Put the bowl with brown outer rim first, then bring the ceramic bowl with earthy brown trim to stack above.", + "Pick up the small bowl with brown edge, place it down, then position the curved bowl light blue shade on top.", + "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.", + "Align the glazed bowl with curved sides over the bowl with brown outer rim, then complete the stack.", + "Pick up the rounded bowl with light blue color using the right arm, then stack the small bowl with brown edge using the left arm.", + "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on it.", + "Position the ceramic bowl, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl.", + "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the medium-sized bowl for holding food.", + "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.", + "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.", + "Pick up the bowl with shiny texture, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with shiny texture.", + "Grab the ceramic bowl with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.", + "Lift the glazed bowl with curved sides, then stack it on the small bowl with brown edge.", + "Take the blue bowl, align the dark inside bowl light blue outside, and stack them.", + "Lift the blue bowl, put it on the table, and stack the small bowl with brown edge above.", + "Stack the blue bowl carefully over the glazed bowl with curved sides.", + "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.", + "Hold the curved bowl light blue shade and stack the medium-sized bowl for holding food neatly atop.", + "Stack the bowl with shiny texture securely on top of the curved bowl light blue shade.", + "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.", + "Align the curved bowl light blue shade and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the curved bowl light blue shade.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with brown outer rim on top.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the rounded bowl with light blue color directly above.", + "Lift the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl with slightly rounded base.", + "Arrange the bowl with shiny texture, lift the ceramic bowl with earthy brown trim with the arm, and stack them.", + "Grab the bowl with brown outer rim, then carefully place the dark inside bowl light blue outside on top.", + "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge above it.", + "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.", + "With the right arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the left arm.", + "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.", + "the curved bowl light blue shade goes at the bottom, the bowl with shiny texture rests above.", + "Position the curved bowl light blue shade carefully on the blue bowl.", + "Use the arm to place the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.", + "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.", + "Set the bowl with shiny texture down, then add the blue bowl over it.", + "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.", + "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with brown outer rim, and stack them.", + "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.", + "Take the blue bowl with slightly rounded base, place it, and stack the bowl with shiny texture on top.", + "Place the blue bowl with slightly rounded base down and stack the rounded bowl with light blue color on top.", + "Pick the glazed bowl with curved sides, position the ceramic bowl, and place it over the glazed bowl with curved sides.", + "Position the blue bowl with slightly rounded base and stack the bowl with shiny texture securely onto it.", + "Position the blue bowl with the arm, then set the bowl with brown outer rim above it.", + "Grab the glazed bowl with curved sides, set it down, then place the rounded bowl with light blue color over it.", + "Use the right arm for the small bowl with brown edge, place it, and stack the rounded bowl with light blue color with the left arm.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the small bowl with brown edge above it.", + "Set the ceramic bowl over the curved bowl light blue shade to create the stack.", + "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.", + "Put the ceramic bowl first, then bring the blue bowl to stack above.", + "Pick up the blue bowl, place it down, then position the dark inside bowl light blue outside on top.", + "Lift the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim above it, and stack.", + "Align the blue bowl with slightly rounded base over the dark inside bowl light blue outside, then complete the stack.", + "Pick up the rounded bowl with light blue color using the right arm, then stack the curved bowl light blue shade using the left arm.", + "Pick the bowl with shiny texture, then stack the ceramic bowl on it.", + "Position the small bowl with brown edge, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the small bowl with brown edge.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with brown outer rim.", + "Pick the curved bowl light blue shade, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Grab the blue bowl with slightly rounded base, then stack the small bowl with brown edge on top.", + "Pick up the bowl with brown outer rim, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the bowl with brown outer rim.", + "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.", + "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl with earthy brown trim.", + "Take the ceramic bowl with earthy brown trim, align the ceramic bowl with earthy brown trim, and stack them.", + "Lift the ceramic bowl, put it on the table, and stack the blue bowl above.", + "Stack the ceramic bowl carefully over the glazed bowl with curved sides.", + "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.", + "Hold the medium-sized bowl for holding food and stack the medium-sized bowl for holding food neatly atop.", + "Stack the small bowl with brown edge securely on top of the blue bowl with slightly rounded base.", + "Lift the bowl with shiny texture using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.", + "Align the curved bowl light blue shade and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the curved bowl light blue shade.", + "Lift the curved bowl light blue shade, lay it down, and stack the blue bowl with slightly rounded base on top.", + "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.", + "Lift the ceramic bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl." + ], + "unseen": [ + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode30.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..3edda9812b43521ede5cd0b2597423bec2a50199 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the small bowl with brown edge over the glazed bowl with curved sides to create the stack.", + "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with shiny texture on top.", + "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl.", + "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.", + "Position the medium-sized bowl for holding food carefully on the blue bowl with slightly rounded base.", + "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.", + "Grab the rounded bowl with light blue color, set it down, then place the bowl with shiny texture over it.", + "Align the curved bowl light blue shade over the dark inside bowl light blue outside, then complete the stack.", + "Set the ceramic bowl down, then add the bowl with shiny texture over it.", + "Position the rounded bowl with light blue color and stack the small bowl with brown edge securely onto it.", + "Place the small bowl with brown edge on the surface, then stack the blue bowl with slightly rounded base above it.", + "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.", + "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.", + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the dark inside bowl light blue outside above.", + "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with the right arm.", + "Take the medium-sized bowl for holding food, place it, and stack the dark inside bowl light blue outside on top.", + "the small bowl with brown edge goes at the bottom, the dark inside bowl light blue outside rests above.", + "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.", + "Hold the rounded bowl with light blue color and stack the rounded bowl with light blue color neatly atop.", + "Take the bowl with brown outer rim, align the small bowl with brown edge, and stack them.", + "Pick up the curved bowl light blue shade, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the curved bowl light blue shade.", + "Pick up the bowl with shiny texture using the left arm, then stack the bowl with brown outer rim using the right arm.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the curved bowl light blue shade.", + "Pick up the glazed bowl with curved sides and set the glazed bowl with curved sides on it.", + "Put the bowl with brown outer rim first, then bring the bowl with shiny texture to stack above.", + "Set down the glazed bowl with curved sides and drop the curved bowl light blue shade on top.", + "Stack the blue bowl securely on top of the small bowl with brown edge.", + "Grab the bowl with brown outer rim, then carefully place the glazed bowl with curved sides on top.", + "Take the dark inside bowl light blue outside, place the ceramic bowl with earthy brown trim above, and let go.", + "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl, and stack them.", + "Stack the medium-sized bowl for holding food carefully over the glazed bowl with curved sides.", + "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the bowl with shiny texture with the right arm.", + "Take the ceramic bowl, position it, then stack the dark inside bowl light blue outside directly above.", + "Arrange the ceramic bowl, lift the medium-sized bowl for holding food with the arm, and stack them.", + "Grab the rounded bowl with light blue color, then stack the curved bowl light blue shade on top.", + "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the medium-sized bowl for holding food on top.", + "Lift the dark inside bowl light blue outside, position the blue bowl above it, and stack.", + "Pick the ceramic bowl with earthy brown trim, position the bowl with shiny texture, and place it over the ceramic bowl with earthy brown trim.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the rounded bowl with light blue color.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl on top.", + "Lift the rounded bowl with light blue color, grab the bowl with shiny texture, and set the bowl with shiny texture on the rounded bowl with light blue color.", + "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "With the left arm, lift the rounded bowl with light blue color and stack the glazed bowl with curved sides using the right arm.", + "Lift the blue bowl, then stack it on the curved bowl light blue shade.", + "Position the curved bowl light blue shade, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the curved bowl light blue shade.", + "Place the dark inside bowl light blue outside down, then set the blue bowl above it.", + "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.", + "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.", + "Set the glazed bowl with curved sides over the curved bowl light blue shade to create the stack.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with shiny texture on top.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the glazed bowl with curved sides.", + "Pick the small bowl with brown edge, then stack the ceramic bowl on it.", + "Position the ceramic bowl with earthy brown trim carefully on the glazed bowl with curved sides.", + "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside on top of the blue bowl with slightly rounded base.", + "Grab the bowl with shiny texture, set it down, then place the curved bowl light blue shade over it.", + "Align the rounded bowl with light blue color over the bowl with brown outer rim, then complete the stack.", + "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.", + "Position the glazed bowl with curved sides and stack the blue bowl securely onto it.", + "Place the medium-sized bowl for holding food on the surface, then stack the dark inside bowl light blue outside above it.", + "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.", + "Align the ceramic bowl with earthy brown trim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.", + "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl above.", + "Grab the rounded bowl with light blue color with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Take the curved bowl light blue shade, place it, and stack the rounded bowl with light blue color on top.", + "the bowl with brown outer rim goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Position the bowl with shiny texture with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Hold the dark inside bowl light blue outside and stack the dark inside bowl light blue outside neatly atop.", + "Take the blue bowl, align the medium-sized bowl for holding food, and stack them.", + "Pick up the blue bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl.", + "Pick up the medium-sized bowl for holding food using the left arm, then stack the medium-sized bowl for holding food using the right arm.", + "Grasp the blue bowl, then use the arm to align and stack the small bowl with brown edge.", + "Pick up the glazed bowl with curved sides and set the blue bowl on it.", + "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl to stack above.", + "Set down the curved bowl light blue shade and drop the bowl with brown outer rim on top.", + "Stack the bowl with shiny texture securely on top of the blue bowl.", + "Grab the glazed bowl with curved sides, then carefully place the bowl with shiny texture on top.", + "Take the medium-sized bowl for holding food, place the medium-sized bowl for holding food above, and let go.", + "Grab the small bowl with brown edge, lift it up, position the small bowl with brown edge, and stack them.", + "Stack the blue bowl carefully over the rounded bowl with light blue color.", + "Use the left arm for the bowl with shiny texture, place it, and stack the blue bowl with the right arm.", + "Take the glazed bowl with curved sides, position it, then stack the bowl with shiny texture directly above.", + "Arrange the small bowl with brown edge, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Grab the blue bowl, then stack the medium-sized bowl for holding food on top.", + "Place the glazed bowl with curved sides down and stack the bowl with shiny texture on top.", + "Grab the small bowl with brown edge, position it, and place the ceramic bowl with earthy brown trim on top.", + "Lift the rounded bowl with light blue color, position the ceramic bowl with earthy brown trim above it, and stack.", + "Pick the bowl with shiny texture, position the curved bowl light blue shade, and place it over the bowl with shiny texture.", + "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.", + "Pick up the curved bowl light blue shade, place it down, then position the small bowl with brown edge on top.", + "Lift the bowl with shiny texture, grab the blue bowl, and set the blue bowl on the bowl with shiny texture.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "With the left arm, lift the blue bowl and stack the rounded bowl with light blue color using the right arm.", + "Lift the small bowl with brown edge, then stack it on the medium-sized bowl for holding food.", + "Position the dark inside bowl light blue outside, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the dark inside bowl light blue outside.", + "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim above it.", + "Use the arm to place the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.", + "Hold the ceramic bowl steady and slide the glazed bowl with curved sides on.", + "Set the blue bowl over the ceramic bowl to create the stack.", + "Lift the ceramic bowl, lay it down, and stack the rounded bowl with light blue color on top." + ], + "unseen": [ + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode31.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..9c8a113f710f0a541254d0cecd904de955d236ed --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.", + "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.", + "Take the bowl with shiny texture, place the glazed bowl with curved sides above, and let go.", + "Lift the blue bowl, then stack it on the dark inside bowl light blue outside.", + "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.", + "Stack the medium-sized bowl for holding food carefully over the ceramic bowl.", + "Pick the ceramic bowl, then stack the ceramic bowl on it.", + "Pick the ceramic bowl, position on the table, and place the ceramic bowl over it.", + "Set down the medium-sized bowl for holding food and drop the curved bowl light blue shade on top.", + "Pick up the curved bowl light blue shade and set the medium-sized bowl for holding food on it.", + "Arrange the rounded bowl with light blue color, lift the glazed bowl with curved sides with the arm, and stack them.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with brown outer rim.", + "Lift the ceramic bowl with earthy brown trim, position the bowl with shiny texture above it, and stack.", + "Lift the blue bowl with slightly rounded base and position it neatly over the glazed bowl with curved sides.", + "Take the dark inside bowl light blue outside, position it, then stack the bowl with brown outer rim directly above.", + "Hold the blue bowl with slightly rounded base steady and slide the small bowl with brown edge on.", + "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.", + "Grab the bowl with brown outer rim, position it, and place the bowl with shiny texture on top.", + "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.", + "Position the blue bowl with slightly rounded base carefully on the ceramic bowl.", + "Grab the dark inside bowl light blue outside, then carefully place the medium-sized bowl for holding food on top.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl above it.", + "Pick up the blue bowl using the left arm, then stack the curved bowl light blue shade using the right arm.", + "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food above it.", + "Grab the dark inside bowl light blue outside, lift it up, position the small bowl with brown edge, and stack them.", + "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Place the ceramic bowl with earthy brown trim down and stack the rounded bowl with light blue color on top.", + "Use the arm to place the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on top.", + "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl with slightly rounded base above.", + "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.", + "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl on top.", + "Pick the ceramic bowl, position the medium-sized bowl for holding food, and place it over the ceramic bowl.", + "Lift the curved bowl light blue shade, stack it precisely on top of the small bowl with brown edge.", + "Pick up the small bowl with brown edge, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the small bowl with brown edge.", + "Grab the curved bowl light blue shade, set it down, then place the blue bowl over it.", + "Align the ceramic bowl with earthy brown trim and the blue bowl, then stack the blue bowl on the ceramic bowl with earthy brown trim.", + "Hold the ceramic bowl and stack the curved bowl light blue shade neatly atop.", + "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Grab the bowl with shiny texture with the left arm, place it, and stack the bowl with brown outer rim with the right arm.", + "Set the rounded bowl with light blue color down, then add the rounded bowl with light blue color over it.", + "Stack the dark inside bowl light blue outside securely on top of the curved bowl light blue shade.", + "Set the bowl with shiny texture over the blue bowl with slightly rounded base to create the stack.", + "Align the curved bowl light blue shade over the rounded bowl with light blue color, then complete the stack.", + "Use the left arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the right arm.", + "the rounded bowl with light blue color goes at the bottom, the blue bowl rests above.", + "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.", + "Grab the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.", + "With the left arm, lift the dark inside bowl light blue outside and stack the rounded bowl with light blue color using the right arm.", + "Take the ceramic bowl, align the ceramic bowl with earthy brown trim, and stack them.", + "Position the bowl with brown outer rim, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with brown outer rim.", + "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.", + "Take the dark inside bowl light blue outside, place the glazed bowl with curved sides above, and let go.", + "Lift the ceramic bowl, then stack it on the curved bowl light blue shade.", + "Position the bowl with brown outer rim and stack the dark inside bowl light blue outside securely onto it.", + "Stack the blue bowl with slightly rounded base carefully over the bowl with brown outer rim.", + "Pick the glazed bowl with curved sides, then stack the blue bowl on it.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the small bowl with brown edge over it.", + "Set down the rounded bowl with light blue color and drop the glazed bowl with curved sides on top.", + "Pick up the ceramic bowl with earthy brown trim and set the rounded bowl with light blue color on it.", + "Arrange the glazed bowl with curved sides, lift the small bowl with brown edge with the arm, and stack them.", + "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Lift the glazed bowl with curved sides, position the bowl with brown outer rim above it, and stack.", + "Lift the bowl with shiny texture and position it neatly over the medium-sized bowl for holding food.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the rounded bowl with light blue color directly above.", + "Hold the ceramic bowl steady and slide the glazed bowl with curved sides on.", + "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.", + "Grab the dark inside bowl light blue outside, position it, and place the bowl with shiny texture on top.", + "Pick up the glazed bowl with curved sides, place it down, then position the glazed bowl with curved sides on top.", + "Position the ceramic bowl with earthy brown trim carefully on the small bowl with brown edge.", + "Grab the curved bowl light blue shade, then carefully place the small bowl with brown edge on top.", + "Position the medium-sized bowl for holding food with the arm, then set the medium-sized bowl for holding food above it.", + "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the blue bowl using the right arm.", + "Place the blue bowl down, then set the curved bowl light blue shade above it.", + "Grab the medium-sized bowl for holding food, lift it up, position the bowl with shiny texture, and stack them.", + "Take the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color on top.", + "Place the ceramic bowl down and stack the bowl with shiny texture on top.", + "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.", + "Lift the bowl with brown outer rim, put it on the table, and stack the small bowl with brown edge above.", + "Place the bowl with brown outer rim down, then set the blue bowl on top of the bowl with brown outer rim.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the small bowl with brown edge on top.", + "Pick the glazed bowl with curved sides, position the bowl with brown outer rim, and place it over the glazed bowl with curved sides.", + "Lift the ceramic bowl, stack it precisely on top of the rounded bowl with light blue color.", + "Pick up the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the medium-sized bowl for holding food.", + "Grab the glazed bowl with curved sides, set it down, then place the blue bowl with slightly rounded base over it.", + "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.", + "Hold the ceramic bowl with earthy brown trim and stack the small bowl with brown edge neatly atop.", + "Place the rounded bowl with light blue color on the surface, then stack the small bowl with brown edge above it.", + "Grab the rounded bowl with light blue color with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Set the glazed bowl with curved sides down, then add the medium-sized bowl for holding food over it.", + "Stack the ceramic bowl with earthy brown trim securely on top of the dark inside bowl light blue outside.", + "Set the dark inside bowl light blue outside over the bowl with shiny texture to create the stack.", + "Align the blue bowl with slightly rounded base over the rounded bowl with light blue color, then complete the stack.", + "Use the left arm for the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl rests above.", + "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.", + "Grab the curved bowl light blue shade, then stack the ceramic bowl on top.", + "With the left arm, lift the bowl with brown outer rim and stack the dark inside bowl light blue outside using the right arm.", + "Take the medium-sized bowl for holding food, align the glazed bowl with curved sides, and stack them.", + "Position the bowl with brown outer rim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the bowl with brown outer rim.", + "Lift the small bowl with brown edge, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the small bowl with brown edge." + ], + "unseen": [ + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode32.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..a5362c94b55364deee8304545108ecc3c8d35722 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bowl with shiny texture, position it, then stack the blue bowl directly above.", + "Put the medium-sized bowl for holding food first, then bring the blue bowl with slightly rounded base to stack above.", + "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.", + "Use the right arm for the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl with slightly rounded base.", + "Position the bowl with shiny texture carefully on the ceramic bowl.", + "Arrange the bowl with brown outer rim, lift the curved bowl light blue shade with the arm, and stack them.", + "Pick up the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.", + "Lift the bowl with brown outer rim, put it on the table, and stack the bowl with shiny texture above.", + "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.", + "Set the blue bowl over the glazed bowl with curved sides to create the stack.", + "With the right arm, lift the bowl with shiny texture and stack the medium-sized bowl for holding food using the right arm.", + "the bowl with brown outer rim goes at the bottom, the bowl with shiny texture rests above.", + "Grab the small bowl with brown edge, set it down, then place the bowl with shiny texture over it.", + "Position the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.", + "Grab the bowl with shiny texture, position it, and place the glazed bowl with curved sides on top.", + "Set the curved bowl light blue shade down, then add the glazed bowl with curved sides over it.", + "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.", + "Pick the ceramic bowl with earthy brown trim, then stack the blue bowl on it.", + "Grab the curved bowl light blue shade with the right arm, place it, and stack the ceramic bowl with the right arm.", + "Lift the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.", + "Position the rounded bowl with light blue color and stack the glazed bowl with curved sides securely onto it.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the medium-sized bowl for holding food.", + "Position the medium-sized bowl for holding food with the arm, then set the rounded bowl with light blue color above it.", + "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl, and stack them.", + "Place the bowl with brown outer rim down, then set the blue bowl with slightly rounded base above it.", + "Align the ceramic bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl.", + "Lift the curved bowl light blue shade, position the blue bowl with slightly rounded base above it, and stack.", + "Take the blue bowl, place the curved bowl light blue shade above, and let go.", + "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.", + "Pick up the rounded bowl with light blue color using the right arm, then stack the ceramic bowl using the right arm.", + "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl with slightly rounded base on top.", + "Place the bowl with brown outer rim on the surface, then stack the curved bowl light blue shade above it.", + "Stack the bowl with brown outer rim securely on top of the ceramic bowl with earthy brown trim.", + "Place the blue bowl with slightly rounded base down and stack the dark inside bowl light blue outside on top.", + "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl on top.", + "Align the bowl with brown outer rim over the dark inside bowl light blue outside, then complete the stack.", + "Set down the glazed bowl with curved sides and drop the glazed bowl with curved sides on top.", + "Lift the glazed bowl with curved sides, then stack it on the bowl with shiny texture.", + "Stack the blue bowl carefully over the small bowl with brown edge.", + "Lift the glazed bowl with curved sides and position it neatly over the medium-sized bowl for holding food.", + "Pick the curved bowl light blue shade, position the small bowl with brown edge, and place it over the curved bowl light blue shade.", + "Use the arm to place the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.", + "Grab the dark inside bowl light blue outside, then stack the ceramic bowl on top.", + "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl with slightly rounded base over it.", + "Lift the ceramic bowl using the right arm, set it down, and stack the bowl with shiny texture using the right arm.", + "Hold the bowl with brown outer rim steady and slide the rounded bowl with light blue color on.", + "Grab the curved bowl light blue shade, then carefully place the rounded bowl with light blue color on top.", + "Pick up the curved bowl light blue shade and set the ceramic bowl with earthy brown trim on it.", + "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.", + "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl to stack above.", + "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl on top.", + "Use the right arm for the small bowl with brown edge, place it, and stack the ceramic bowl with the right arm.", + "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl with slightly rounded base.", + "Position the small bowl with brown edge carefully on the bowl with shiny texture.", + "Arrange the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade with the arm, and stack them.", + "Pick up the curved bowl light blue shade, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the curved bowl light blue shade.", + "Lift the glazed bowl with curved sides, put it on the table, and stack the dark inside bowl light blue outside above.", + "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food on top of the blue bowl with slightly rounded base.", + "Set the blue bowl over the medium-sized bowl for holding food to create the stack.", + "With the right arm, lift the bowl with shiny texture and stack the bowl with brown outer rim using the right arm.", + "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Grab the blue bowl with slightly rounded base, set it down, then place the small bowl with brown edge over it.", + "Position the small bowl with brown edge, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the small bowl with brown edge.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with brown outer rim on top.", + "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.", + "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.", + "Pick the small bowl with brown edge, then stack the ceramic bowl on it.", + "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.", + "Lift the bowl with shiny texture, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with shiny texture.", + "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.", + "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with shiny texture.", + "Position the medium-sized bowl for holding food with the arm, then set the medium-sized bowl for holding food above it.", + "Grab the small bowl with brown edge, lift it up, position the curved bowl light blue shade, and stack them.", + "Place the blue bowl down, then set the curved bowl light blue shade above it.", + "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.", + "Lift the small bowl with brown edge, position the dark inside bowl light blue outside above it, and stack.", + "Take the dark inside bowl light blue outside, place the bowl with brown outer rim above, and let go.", + "Take the small bowl with brown edge, align the blue bowl, and stack them.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the ceramic bowl using the right arm.", + "Pick up the blue bowl, place it down, then position the ceramic bowl on top.", + "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it.", + "Stack the ceramic bowl securely on top of the rounded bowl with light blue color.", + "Place the bowl with shiny texture down and stack the ceramic bowl on top.", + "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Align the small bowl with brown edge over the medium-sized bowl for holding food, then complete the stack.", + "Set down the ceramic bowl and drop the ceramic bowl with earthy brown trim on top.", + "Lift the rounded bowl with light blue color, then stack it on the blue bowl with slightly rounded base.", + "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.", + "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl.", + "Pick the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim, and place it over the blue bowl with slightly rounded base.", + "Use the arm to place the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.", + "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.", + "Pick the curved bowl light blue shade, position on the table, and place the rounded bowl with light blue color over it.", + "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.", + "Hold the curved bowl light blue shade steady and slide the blue bowl with slightly rounded base on.", + "Grab the curved bowl light blue shade, then carefully place the glazed bowl with curved sides on top.", + "Pick up the glazed bowl with curved sides and set the blue bowl with slightly rounded base on it.", + "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl directly above.", + "Put the glazed bowl with curved sides first, then bring the curved bowl light blue shade to stack above." + ], + "unseen": [ + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode33.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..64ba13cc22ab2e46931c5998be53150ba92eba1a --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bowl with shiny texture, stack it precisely on top of the small bowl with brown edge.", + "Align the ceramic bowl with earthy brown trim over the ceramic bowl, then complete the stack.", + "Set down the bowl with shiny texture and drop the glazed bowl with curved sides on top.", + "Place the ceramic bowl on the surface, then stack the bowl with brown outer rim above it.", + "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.", + "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.", + "Stack the medium-sized bowl for holding food securely on top of the glazed bowl with curved sides.", + "Pick up the ceramic bowl using the left arm, then stack the curved bowl light blue shade using the right arm.", + "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl directly above.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the curved bowl light blue shade above it.", + "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the glazed bowl with curved sides over it.", + "Pick up the glazed bowl with curved sides and set the bowl with brown outer rim on it.", + "Use the left arm for the blue bowl, place it, and stack the rounded bowl with light blue color with the right arm.", + "With the left arm, lift the blue bowl and stack the ceramic bowl using the right arm.", + "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.", + "Hold the bowl with shiny texture steady and slide the glazed bowl with curved sides on.", + "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.", + "Use the arm to place the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.", + "Lift the rounded bowl with light blue color and position it neatly over the curved bowl light blue shade.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the dark inside bowl light blue outside.", + "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.", + "Place the ceramic bowl with earthy brown trim down and stack the small bowl with brown edge on top.", + "Set the blue bowl over the small bowl with brown edge to create the stack.", + "Grab the small bowl with brown edge, then stack the small bowl with brown edge on top.", + "Lift the curved bowl light blue shade, put it on the table, and stack the rounded bowl with light blue color above.", + "Pick the rounded bowl with light blue color, then stack the curved bowl light blue shade on it.", + "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.", + "Position the medium-sized bowl for holding food, lift the small bowl with brown edge, and place the small bowl with brown edge on the medium-sized bowl for holding food.", + "Lift the dark inside bowl light blue outside, lay it down, and stack the medium-sized bowl for holding food on top.", + "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.", + "Pick up the small bowl with brown edge, place it down, then position the ceramic bowl on top.", + "Hold the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides neatly atop.", + "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.", + "Arrange the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Place the bowl with brown outer rim down, then set the curved bowl light blue shade above it.", + "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.", + "Set the bowl with brown outer rim down, then add the bowl with brown outer rim over it.", + "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.", + "Grab the curved bowl light blue shade, then carefully place the ceramic bowl with earthy brown trim on top.", + "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.", + "Position the dark inside bowl light blue outside carefully on the bowl with shiny texture.", + "Position the ceramic bowl and stack the ceramic bowl with earthy brown trim securely onto it.", + "Grab the bowl with brown outer rim, position it, and place the ceramic bowl with earthy brown trim on top.", + "Lift the dark inside bowl light blue outside, position the glazed bowl with curved sides above it, and stack.", + "Grab the blue bowl, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Lift the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl with earthy brown trim.", + "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides on top of the curved bowl light blue shade.", + "Take the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim on top.", + "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with shiny texture.", + "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.", + "Set down the rounded bowl with light blue color and drop the bowl with brown outer rim on top.", + "Place the dark inside bowl light blue outside on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Align the blue bowl with slightly rounded base and the small bowl with brown edge, then stack the small bowl with brown edge on the blue bowl with slightly rounded base.", + "Lift the curved bowl light blue shade, then stack it on the small bowl with brown edge.", + "Stack the small bowl with brown edge securely on top of the bowl with brown outer rim.", + "Pick up the bowl with brown outer rim using the left arm, then stack the blue bowl with slightly rounded base using the right arm.", + "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.", + "Position the blue bowl with slightly rounded base with the arm, then set the bowl with shiny texture above it.", + "Grab the bowl with brown outer rim with the left arm, place it, and stack the ceramic bowl with the right arm.", + "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Pick up the glazed bowl with curved sides and set the ceramic bowl on it.", + "Use the left arm for the ceramic bowl, place it, and stack the glazed bowl with curved sides with the right arm.", + "With the left arm, lift the bowl with brown outer rim and stack the curved bowl light blue shade using the right arm.", + "Pick the glazed bowl with curved sides, position the blue bowl, and place it over the glazed bowl with curved sides.", + "Hold the medium-sized bowl for holding food steady and slide the bowl with shiny texture on.", + "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl over it.", + "Use the arm to place the bowl with brown outer rim, then stack the rounded bowl with light blue color on top.", + "Lift the medium-sized bowl for holding food and position it neatly over the glazed bowl with curved sides.", + "Grasp the ceramic bowl, then use the arm to align and stack the medium-sized bowl for holding food.", + "Put the bowl with brown outer rim first, then bring the medium-sized bowl for holding food to stack above.", + "Place the blue bowl down and stack the bowl with shiny texture on top.", + "Set the bowl with shiny texture over the medium-sized bowl for holding food to create the stack.", + "Grab the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on top.", + "Lift the glazed bowl with curved sides, put it on the table, and stack the small bowl with brown edge above.", + "Pick the blue bowl, then stack the medium-sized bowl for holding food on it.", + "Take the bowl with shiny texture, align the small bowl with brown edge, and stack them.", + "Position the bowl with shiny texture, lift the blue bowl, and place the blue bowl on the bowl with shiny texture.", + "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with brown outer rim on top.", + "Take the medium-sized bowl for holding food, place the ceramic bowl above, and let go.", + "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.", + "Hold the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside neatly atop.", + "Lift the bowl with shiny texture using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.", + "Arrange the bowl with brown outer rim, lift the blue bowl with the arm, and stack them.", + "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim above it.", + "the blue bowl with slightly rounded base goes at the bottom, the blue bowl rests above.", + "Set the blue bowl down, then add the curved bowl light blue shade over it.", + "Pick up the bowl with brown outer rim, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the bowl with brown outer rim.", + "Grab the blue bowl, then carefully place the curved bowl light blue shade on top.", + "Stack the blue bowl with slightly rounded base carefully over the glazed bowl with curved sides.", + "Position the ceramic bowl carefully on the medium-sized bowl for holding food.", + "Position the blue bowl and stack the ceramic bowl securely onto it.", + "Grab the blue bowl with slightly rounded base, position it, and place the blue bowl with slightly rounded base on top.", + "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.", + "Grab the dark inside bowl light blue outside, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Lift the ceramic bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl.", + "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.", + "Take the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with shiny texture.", + "Align the curved bowl light blue shade over the ceramic bowl, then complete the stack." + ], + "unseen": [ + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode34.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..3f9d112e17b62650a9620d7d89a2f1e623a419ba --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium-sized bowl for holding food and set the bowl with brown outer rim on it.", + "Set down the blue bowl and drop the medium-sized bowl for holding food on top.", + "Lift the curved bowl light blue shade, lay it down, and stack the glazed bowl with curved sides on top.", + "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl over it.", + "Lift the small bowl with brown edge and position it neatly over the bowl with shiny texture.", + "Lift the small bowl with brown edge, position the glazed bowl with curved sides above it, and stack.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.", + "Stack the medium-sized bowl for holding food carefully over the bowl with brown outer rim.", + "Stack the glazed bowl with curved sides securely on top of the blue bowl.", + "Pick the ceramic bowl with earthy brown trim, position the bowl with shiny texture, and place it over the ceramic bowl with earthy brown trim.", + "Lift the dark inside bowl light blue outside, then stack it on the medium-sized bowl for holding food.", + "Position the dark inside bowl light blue outside carefully on the blue bowl with slightly rounded base.", + "Grab the blue bowl with slightly rounded base, lift it up, position the glazed bowl with curved sides, and stack them.", + "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.", + "Place the dark inside bowl light blue outside down and stack the bowl with brown outer rim on top.", + "Lift the curved bowl light blue shade using the left arm, set it down, and stack the glazed bowl with curved sides using the left arm.", + "Hold the medium-sized bowl for holding food steady and slide the ceramic bowl on.", + "Pick up the small bowl with brown edge using the left arm, then stack the curved bowl light blue shade using the left arm.", + "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.", + "Lift the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.", + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the curved bowl light blue shade above.", + "Set the blue bowl down, then add the blue bowl over it.", + "Put the curved bowl light blue shade first, then bring the blue bowl to stack above.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with shiny texture above it.", + "Take the small bowl with brown edge, align the ceramic bowl, and stack them.", + "With the left arm, lift the blue bowl with slightly rounded base and stack the glazed bowl with curved sides using the left arm.", + "Lift the dark inside bowl light blue outside, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Position the bowl with brown outer rim, lift the ceramic bowl, and place the ceramic bowl on the bowl with brown outer rim.", + "Set the ceramic bowl over the glazed bowl with curved sides to create the stack.", + "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the ceramic bowl with the left arm.", + "Place the medium-sized bowl for holding food down, then set the bowl with brown outer rim above it.", + "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the curved bowl light blue shade.", + "Align the ceramic bowl with earthy brown trim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.", + "Hold the bowl with shiny texture and stack the small bowl with brown edge neatly atop.", + "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.", + "Grab the bowl with brown outer rim, then stack the blue bowl on top.", + "Use the left arm for the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Pick up the medium-sized bowl for holding food, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Grab the bowl with brown outer rim, position it, and place the ceramic bowl with earthy brown trim on top.", + "Align the small bowl with brown edge over the medium-sized bowl for holding food, then complete the stack.", + "Pick the blue bowl, position on the table, and place the dark inside bowl light blue outside over it.", + "Take the curved bowl light blue shade, place it, and stack the small bowl with brown edge on top.", + "Take the curved bowl light blue shade, place the dark inside bowl light blue outside above, and let go.", + "the ceramic bowl with earthy brown trim goes at the bottom, the curved bowl light blue shade rests above.", + "Use the arm to place the ceramic bowl, then stack the medium-sized bowl for holding food on top.", + "Position the bowl with brown outer rim and stack the medium-sized bowl for holding food securely onto it.", + "Position the bowl with shiny texture with the arm, then set the ceramic bowl above it.", + "Pick the glazed bowl with curved sides, then stack the ceramic bowl on it.", + "Pick up the small bowl with brown edge and set the blue bowl with slightly rounded base on it.", + "Set down the curved bowl light blue shade and drop the curved bowl light blue shade on top.", + "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Grab the blue bowl, set it down, then place the ceramic bowl over it.", + "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl.", + "Lift the bowl with shiny texture, position the bowl with brown outer rim above it, and stack.", + "Take the bowl with shiny texture, position it, then stack the dark inside bowl light blue outside directly above.", + "Stack the bowl with brown outer rim carefully over the curved bowl light blue shade.", + "Stack the rounded bowl with light blue color securely on top of the rounded bowl with light blue color.", + "Pick the ceramic bowl with earthy brown trim, position the blue bowl with slightly rounded base, and place it over the ceramic bowl with earthy brown trim.", + "Lift the bowl with brown outer rim, then stack it on the medium-sized bowl for holding food.", + "Position the small bowl with brown edge carefully on the blue bowl with slightly rounded base.", + "Grab the glazed bowl with curved sides, lift it up, position the small bowl with brown edge, and stack them.", + "Grab the blue bowl, then carefully place the bowl with brown outer rim on top.", + "Place the rounded bowl with light blue color down and stack the medium-sized bowl for holding food on top.", + "Lift the curved bowl light blue shade using the left arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.", + "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.", + "Pick up the bowl with shiny texture using the left arm, then stack the bowl with brown outer rim using the left arm.", + "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl with earthy brown trim.", + "Lift the bowl with brown outer rim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the bowl with brown outer rim.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.", + "Set the small bowl with brown edge down, then add the ceramic bowl with earthy brown trim over it.", + "Put the bowl with brown outer rim first, then bring the curved bowl light blue shade to stack above.", + "Place the bowl with brown outer rim on the surface, then stack the blue bowl above it.", + "Take the bowl with shiny texture, align the medium-sized bowl for holding food, and stack them.", + "With the left arm, lift the glazed bowl with curved sides and stack the rounded bowl with light blue color using the left arm.", + "Lift the bowl with shiny texture, stack it precisely on top of the curved bowl light blue shade.", + "Position the ceramic bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl.", + "Set the ceramic bowl over the ceramic bowl with earthy brown trim to create the stack.", + "Grab the bowl with brown outer rim with the left arm, place it, and stack the curved bowl light blue shade with the left arm.", + "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.", + "Pick up the bowl with shiny texture, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with shiny texture.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with shiny texture.", + "Align the bowl with brown outer rim and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.", + "Hold the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim neatly atop.", + "Arrange the rounded bowl with light blue color, lift the blue bowl with the arm, and stack them.", + "Grab the blue bowl, then stack the small bowl with brown edge on top.", + "Use the left arm for the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture with the left arm.", + "Pick up the glazed bowl with curved sides, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Grab the bowl with brown outer rim, position it, and place the ceramic bowl with earthy brown trim on top.", + "Align the glazed bowl with curved sides over the blue bowl with slightly rounded base, then complete the stack.", + "Pick the bowl with brown outer rim, position on the table, and place the dark inside bowl light blue outside over it.", + "Take the ceramic bowl, place it, and stack the dark inside bowl light blue outside on top.", + "Take the medium-sized bowl for holding food, place the dark inside bowl light blue outside above, and let go.", + "the bowl with brown outer rim goes at the bottom, the small bowl with brown edge rests above.", + "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.", + "Position the rounded bowl with light blue color and stack the rounded bowl with light blue color securely onto it.", + "Position the small bowl with brown edge with the arm, then set the bowl with brown outer rim above it.", + "Pick the bowl with shiny texture, then stack the glazed bowl with curved sides on it.", + "Pick up the dark inside bowl light blue outside and set the rounded bowl with light blue color on it.", + "Set down the dark inside bowl light blue outside and drop the blue bowl with slightly rounded base on top." + ], + "unseen": [ + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode35.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..faeda4025b397cd50b0ee3a5dfea3782ff84f243 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the dark inside bowl light blue outside over the rounded bowl with light blue color to create the stack.", + "Grab the small bowl with brown edge, then carefully place the rounded bowl with light blue color on top.", + "Position the ceramic bowl carefully on the ceramic bowl with earthy brown trim.", + "Lift the ceramic bowl, then stack it on the medium-sized bowl for holding food.", + "Lift the ceramic bowl, position the ceramic bowl above it, and stack.", + "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.", + "Use the right arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Pick up the bowl with brown outer rim, grab the blue bowl, and stack the blue bowl on the bowl with brown outer rim.", + "Grab the small bowl with brown edge, then stack the glazed bowl with curved sides on top.", + "Position the rounded bowl with light blue color and stack the blue bowl securely onto it.", + "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.", + "Put the ceramic bowl with earthy brown trim first, then bring the glazed bowl with curved sides to stack above.", + "Place the bowl with shiny texture down, then set the rounded bowl with light blue color on top of the bowl with shiny texture.", + "Align the bowl with brown outer rim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the bowl with brown outer rim.", + "Arrange the medium-sized bowl for holding food, lift the small bowl with brown edge with the arm, and stack them.", + "Place the bowl with shiny texture down and stack the curved bowl light blue shade on top.", + "Hold the small bowl with brown edge and stack the ceramic bowl with earthy brown trim neatly atop.", + "Lift the blue bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the ceramic bowl.", + "Take the blue bowl with slightly rounded base, align the blue bowl, and stack them.", + "Grasp the ceramic bowl, then use the arm to align and stack the bowl with brown outer rim.", + "Grab the small bowl with brown edge, lift it up, position the glazed bowl with curved sides, and stack them.", + "Use the arm to place the ceramic bowl, then stack the medium-sized bowl for holding food on top.", + "Stack the dark inside bowl light blue outside securely on top of the blue bowl with slightly rounded base.", + "Position the bowl with shiny texture, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with shiny texture.", + "Set down the curved bowl light blue shade and drop the blue bowl on top.", + "With the right arm, lift the blue bowl and stack the bowl with shiny texture using the right arm.", + "Pick the medium-sized bowl for holding food, position the blue bowl with slightly rounded base, and place it over the medium-sized bowl for holding food.", + "Position the bowl with brown outer rim with the arm, then set the blue bowl above it.", + "Pick up the ceramic bowl using the right arm, then stack the ceramic bowl using the right arm.", + "Place the blue bowl with slightly rounded base on the surface, then stack the small bowl with brown edge above it.", + "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.", + "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with shiny texture on top.", + "Take the curved bowl light blue shade, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.", + "Take the blue bowl with slightly rounded base, position it, then stack the blue bowl directly above.", + "Pick up the bowl with shiny texture and set the rounded bowl with light blue color on it.", + "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the glazed bowl with curved sides using the right arm.", + "Set the bowl with brown outer rim down, then add the small bowl with brown edge over it.", + "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.", + "Place the glazed bowl with curved sides down, then set the blue bowl above it.", + "Lift the blue bowl and position it neatly over the medium-sized bowl for holding food.", + "the small bowl with brown edge goes at the bottom, the rounded bowl with light blue color rests above.", + "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with shiny texture with the right arm.", + "Pick the bowl with shiny texture, then stack the ceramic bowl on it.", + "Pick the rounded bowl with light blue color, position on the table, and place the glazed bowl with curved sides over it.", + "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with brown outer rim on.", + "Align the medium-sized bowl for holding food over the rounded bowl with light blue color, then complete the stack.", + "Set the curved bowl light blue shade over the blue bowl to create the stack.", + "Grab the bowl with brown outer rim, then carefully place the medium-sized bowl for holding food on top.", + "Position the bowl with brown outer rim carefully on the medium-sized bowl for holding food.", + "Lift the curved bowl light blue shade, then stack it on the blue bowl.", + "Lift the small bowl with brown edge, position the ceramic bowl above it, and stack.", + "Grab the medium-sized bowl for holding food, position it, and place the glazed bowl with curved sides on top.", + "Use the right arm for the curved bowl light blue shade, place it, and stack the bowl with shiny texture with the right arm.", + "Pick up the ceramic bowl with earthy brown trim, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the ceramic bowl with earthy brown trim.", + "Grab the curved bowl light blue shade, then stack the curved bowl light blue shade on top.", + "Position the bowl with shiny texture and stack the curved bowl light blue shade securely onto it.", + "Take the rounded bowl with light blue color, place the ceramic bowl above, and let go.", + "Put the dark inside bowl light blue outside first, then bring the dark inside bowl light blue outside to stack above.", + "Place the rounded bowl with light blue color down, then set the ceramic bowl with earthy brown trim on top of the rounded bowl with light blue color.", + "Align the blue bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the blue bowl.", + "Arrange the curved bowl light blue shade, lift the bowl with brown outer rim with the arm, and stack them.", + "Place the bowl with brown outer rim down and stack the ceramic bowl on top.", + "Hold the medium-sized bowl for holding food and stack the bowl with brown outer rim neatly atop.", + "Lift the small bowl with brown edge, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the small bowl with brown edge.", + "Pick up the small bowl with brown edge, place it down, then position the bowl with shiny texture on top.", + "Lift the glazed bowl with curved sides, stack it precisely on top of the glazed bowl with curved sides.", + "Take the ceramic bowl, align the bowl with brown outer rim, and stack them.", + "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl.", + "Grab the bowl with shiny texture, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Use the arm to place the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on top.", + "Stack the ceramic bowl with earthy brown trim securely on top of the medium-sized bowl for holding food.", + "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.", + "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.", + "With the right arm, lift the small bowl with brown edge and stack the blue bowl with slightly rounded base using the right arm.", + "Pick the blue bowl, position the blue bowl with slightly rounded base, and place it over the blue bowl.", + "Position the blue bowl with the arm, then set the medium-sized bowl for holding food above it.", + "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl using the right arm.", + "Place the blue bowl with slightly rounded base on the surface, then stack the small bowl with brown edge above it.", + "Stack the bowl with shiny texture carefully over the medium-sized bowl for holding food.", + "Lift the ceramic bowl, lay it down, and stack the medium-sized bowl for holding food on top.", + "Take the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides on top.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl with slightly rounded base above.", + "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.", + "Pick up the curved bowl light blue shade and set the ceramic bowl with earthy brown trim on it.", + "Lift the blue bowl using the right arm, set it down, and stack the ceramic bowl using the right arm.", + "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.", + "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl with earthy brown trim over it.", + "Place the curved bowl light blue shade down, then set the bowl with brown outer rim above it.", + "Lift the small bowl with brown edge and position it neatly over the medium-sized bowl for holding food.", + "the rounded bowl with light blue color goes at the bottom, the bowl with brown outer rim rests above.", + "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.", + "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.", + "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with brown outer rim over it.", + "Hold the ceramic bowl steady and slide the small bowl with brown edge on.", + "Align the medium-sized bowl for holding food over the bowl with shiny texture, then complete the stack.", + "Set the dark inside bowl light blue outside over the rounded bowl with light blue color to create the stack.", + "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl on top." + ], + "unseen": [ + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode36.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..87af24f71ce31e3c617ebad7be3e28074b63c097 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the curved bowl light blue shade, put it on the table, and stack the curved bowl light blue shade above.", + "Set the ceramic bowl down, then add the blue bowl over it.", + "Arrange the small bowl with brown edge, lift the medium-sized bowl for holding food with the arm, and stack them.", + "Stack the dark inside bowl light blue outside securely on top of the small bowl with brown edge.", + "With the left arm, lift the blue bowl with slightly rounded base and stack the bowl with brown outer rim using the right arm.", + "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl on top.", + "Lift the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.", + "Position the glazed bowl with curved sides with the arm, then set the glazed bowl with curved sides above it.", + "Position the glazed bowl with curved sides and stack the bowl with shiny texture securely onto it.", + "Pick up the bowl with shiny texture, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with shiny texture.", + "Hold the dark inside bowl light blue outside steady and slide the curved bowl light blue shade on.", + "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base above it.", + "Lift the curved bowl light blue shade, stack it precisely on top of the curved bowl light blue shade.", + "Lift the small bowl with brown edge and position it neatly over the ceramic bowl.", + "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.", + "Lift the rounded bowl with light blue color, position the dark inside bowl light blue outside above it, and stack.", + "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Lift the curved bowl light blue shade using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.", + "Align the curved bowl light blue shade and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the curved bowl light blue shade.", + "Set down the blue bowl with slightly rounded base and drop the small bowl with brown edge on top.", + "Pick the bowl with shiny texture, position the ceramic bowl with earthy brown trim, and place it over the bowl with shiny texture.", + "Stack the small bowl with brown edge carefully over the ceramic bowl.", + "Grab the medium-sized bowl for holding food, set it down, then place the dark inside bowl light blue outside over it.", + "the curved bowl light blue shade goes at the bottom, the blue bowl with slightly rounded base rests above.", + "Align the blue bowl over the medium-sized bowl for holding food, then complete the stack.", + "Pick up the ceramic bowl, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Grab the small bowl with brown edge, then stack the rounded bowl with light blue color on top.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the ceramic bowl with earthy brown trim on top.", + "Position the dark inside bowl light blue outside, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the dark inside bowl light blue outside.", + "Position the glazed bowl with curved sides carefully on the rounded bowl with light blue color.", + "Hold the bowl with brown outer rim and stack the blue bowl neatly atop.", + "Grasp the glazed bowl with curved sides, then use the arm to align and stack the small bowl with brown edge.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Place the curved bowl light blue shade on the surface, then stack the dark inside bowl light blue outside above it.", + "Take the bowl with brown outer rim, align the blue bowl, and stack them.", + "Grab the small bowl with brown edge, then carefully place the medium-sized bowl for holding food on top.", + "Place the bowl with shiny texture down and stack the bowl with brown outer rim on top.", + "Put the bowl with brown outer rim first, then bring the small bowl with brown edge to stack above.", + "Pick up the small bowl with brown edge using the left arm, then stack the curved bowl light blue shade using the right arm.", + "Use the left arm for the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge with the right arm.", + "Pick up the bowl with brown outer rim and set the small bowl with brown edge on it.", + "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim on top of the blue bowl with slightly rounded base.", + "Grab the glazed bowl with curved sides with the left arm, place it, and stack the ceramic bowl with the right arm.", + "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.", + "Take the curved bowl light blue shade, place the ceramic bowl above, and let go.", + "Set the rounded bowl with light blue color over the blue bowl with slightly rounded base to create the stack.", + "Pick the bowl with brown outer rim, then stack the bowl with shiny texture on it.", + "Lift the ceramic bowl, then stack it on the bowl with brown outer rim.", + "Take the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color on top.", + "Lift the small bowl with brown edge, put it on the table, and stack the medium-sized bowl for holding food above.", + "Set the blue bowl with slightly rounded base down, then add the medium-sized bowl for holding food over it.", + "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.", + "Stack the rounded bowl with light blue color securely on top of the bowl with shiny texture.", + "With the left arm, lift the dark inside bowl light blue outside and stack the ceramic bowl using the right arm.", + "Use the arm to place the bowl with shiny texture, then stack the ceramic bowl on top.", + "Lift the bowl with shiny texture, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with shiny texture.", + "Position the ceramic bowl with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Position the medium-sized bowl for holding food and stack the curved bowl light blue shade securely onto it.", + "Pick up the curved bowl light blue shade, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the curved bowl light blue shade.", + "Hold the medium-sized bowl for holding food steady and slide the small bowl with brown edge on.", + "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides above it.", + "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the rounded bowl with light blue color.", + "Lift the glazed bowl with curved sides, lay it down, and stack the blue bowl with slightly rounded base on top.", + "Lift the blue bowl, position the dark inside bowl light blue outside above it, and stack.", + "Pick the bowl with shiny texture, position on the table, and place the dark inside bowl light blue outside over it.", + "Lift the blue bowl using the left arm, set it down, and stack the ceramic bowl using the right arm.", + "Align the ceramic bowl and the blue bowl, then stack the blue bowl on the ceramic bowl.", + "Set down the bowl with shiny texture and drop the curved bowl light blue shade on top.", + "Pick the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim, and place it over the medium-sized bowl for holding food.", + "Stack the small bowl with brown edge carefully over the rounded bowl with light blue color.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.", + "the blue bowl goes at the bottom, the bowl with shiny texture rests above.", + "Align the dark inside bowl light blue outside over the blue bowl with slightly rounded base, then complete the stack.", + "Pick up the blue bowl with slightly rounded base, place it down, then position the glazed bowl with curved sides on top.", + "Grab the ceramic bowl, then stack the ceramic bowl on top.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the dark inside bowl light blue outside on top.", + "Position the rounded bowl with light blue color, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the rounded bowl with light blue color.", + "Position the small bowl with brown edge carefully on the ceramic bowl.", + "Hold the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base neatly atop.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the bowl with shiny texture.", + "Grab the glazed bowl with curved sides, lift it up, position the bowl with brown outer rim, and stack them.", + "Place the medium-sized bowl for holding food on the surface, then stack the small bowl with brown edge above it.", + "Take the ceramic bowl with earthy brown trim, align the bowl with brown outer rim, and stack them.", + "Grab the bowl with brown outer rim, then carefully place the bowl with shiny texture on top.", + "Place the ceramic bowl down and stack the ceramic bowl on top.", + "Put the rounded bowl with light blue color first, then bring the ceramic bowl with earthy brown trim to stack above.", + "Pick up the rounded bowl with light blue color using the left arm, then stack the ceramic bowl using the right arm.", + "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the right arm.", + "Pick up the glazed bowl with curved sides and set the rounded bowl with light blue color on it.", + "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.", + "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl with slightly rounded base directly above.", + "Take the rounded bowl with light blue color, place the blue bowl above, and let go.", + "Set the bowl with brown outer rim over the ceramic bowl to create the stack.", + "Pick the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on it.", + "Lift the blue bowl, then stack it on the medium-sized bowl for holding food.", + "Take the small bowl with brown edge, place it, and stack the glazed bowl with curved sides on top.", + "Lift the blue bowl with slightly rounded base, put it on the table, and stack the blue bowl above.", + "Set the ceramic bowl down, then add the curved bowl light blue shade over it." + ], + "unseen": [ + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode37.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..8fbbc93741aedb42581d0b1989d305b84df91f33 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position the small bowl with brown edge with the arm, then set the bowl with brown outer rim above it.", + "Position the ceramic bowl with earthy brown trim, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the ceramic bowl with earthy brown trim.", + "Stack the blue bowl with slightly rounded base carefully over the glazed bowl with curved sides.", + "the dark inside bowl light blue outside goes at the bottom, the bowl with shiny texture rests above.", + "With the right arm, lift the rounded bowl with light blue color and stack the bowl with brown outer rim using the left arm.", + "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.", + "Align the blue bowl with slightly rounded base over the curved bowl light blue shade, then complete the stack.", + "Align the blue bowl with slightly rounded base and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.", + "Arrange the dark inside bowl light blue outside, lift the small bowl with brown edge with the arm, and stack them.", + "Use the arm to place the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.", + "Lift the ceramic bowl, position the blue bowl above it, and stack.", + "Stack the glazed bowl with curved sides securely on top of the bowl with brown outer rim.", + "Lift the bowl with brown outer rim using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the small bowl with brown edge.", + "Place the ceramic bowl down, then set the bowl with brown outer rim above it.", + "Pick up the bowl with brown outer rim and set the rounded bowl with light blue color on it.", + "Set the bowl with brown outer rim over the rounded bowl with light blue color to create the stack.", + "Lift the ceramic bowl with earthy brown trim, then stack it on the dark inside bowl light blue outside.", + "Lift the blue bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl.", + "Take the blue bowl with slightly rounded base, position it, then stack the glazed bowl with curved sides directly above.", + "Put the blue bowl first, then bring the ceramic bowl to stack above.", + "Pick up the small bowl with brown edge using the right arm, then stack the blue bowl with slightly rounded base using the left arm.", + "Pick the glazed bowl with curved sides, position the bowl with brown outer rim, and place it over the glazed bowl with curved sides.", + "Pick the dark inside bowl light blue outside, then stack the small bowl with brown edge on it.", + "Grab the curved bowl light blue shade, set it down, then place the small bowl with brown edge over it.", + "Hold the curved bowl light blue shade steady and slide the blue bowl on.", + "Position the glazed bowl with curved sides and stack the blue bowl securely onto it.", + "Use the right arm for the ceramic bowl, place it, and stack the blue bowl with the left arm.", + "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with brown outer rim over it.", + "Take the dark inside bowl light blue outside, place the curved bowl light blue shade above, and let go.", + "Lift the small bowl with brown edge, lay it down, and stack the curved bowl light blue shade on top.", + "Take the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture on top.", + "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.", + "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.", + "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl.", + "Take the bowl with shiny texture, align the ceramic bowl, and stack them.", + "Position the bowl with shiny texture carefully on the glazed bowl with curved sides.", + "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.", + "Hold the medium-sized bowl for holding food and stack the rounded bowl with light blue color neatly atop.", + "Grab the small bowl with brown edge, then carefully place the glazed bowl with curved sides on top.", + "Grab the curved bowl light blue shade with the right arm, place it, and stack the curved bowl light blue shade with the left arm.", + "Lift the blue bowl, stack it precisely on top of the glazed bowl with curved sides.", + "Set down the small bowl with brown edge and drop the blue bowl on top.", + "Pick up the dark inside bowl light blue outside, place it down, then position the dark inside bowl light blue outside on top.", + "Grab the bowl with shiny texture, then stack the glazed bowl with curved sides on top.", + "Grab the medium-sized bowl for holding food, position it, and place the small bowl with brown edge on top.", + "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.", + "Pick up the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the dark inside bowl light blue outside.", + "Place the dark inside bowl light blue outside on the surface, then stack the small bowl with brown edge above it.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the medium-sized bowl for holding food above it.", + "Position the blue bowl, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl.", + "Stack the dark inside bowl light blue outside carefully over the glazed bowl with curved sides.", + "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.", + "With the right arm, lift the curved bowl light blue shade and stack the small bowl with brown edge using the left arm.", + "Set the ceramic bowl down, then add the ceramic bowl over it.", + "Align the ceramic bowl over the bowl with brown outer rim, then complete the stack.", + "Align the glazed bowl with curved sides and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the glazed bowl with curved sides.", + "Arrange the dark inside bowl light blue outside, lift the bowl with shiny texture with the arm, and stack them.", + "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl on top.", + "Lift the ceramic bowl, position the blue bowl with slightly rounded base above it, and stack.", + "Stack the bowl with brown outer rim securely on top of the glazed bowl with curved sides.", + "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Lift the blue bowl with slightly rounded base and position it neatly over the curved bowl light blue shade.", + "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.", + "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.", + "Set the medium-sized bowl for holding food over the ceramic bowl with earthy brown trim to create the stack.", + "Lift the ceramic bowl, then stack it on the curved bowl light blue shade.", + "Lift the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the glazed bowl with curved sides.", + "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.", + "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.", + "Pick up the bowl with brown outer rim using the right arm, then stack the blue bowl using the left arm.", + "Pick the blue bowl, position the blue bowl with slightly rounded base, and place it over the blue bowl.", + "Pick the ceramic bowl, then stack the dark inside bowl light blue outside on it.", + "Grab the curved bowl light blue shade, set it down, then place the ceramic bowl with earthy brown trim over it.", + "Hold the medium-sized bowl for holding food steady and slide the blue bowl with slightly rounded base on.", + "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.", + "Use the right arm for the curved bowl light blue shade, place it, and stack the curved bowl light blue shade with the left arm.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the ceramic bowl over it.", + "Take the small bowl with brown edge, place the dark inside bowl light blue outside above, and let go.", + "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with shiny texture on top.", + "Take the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides on top.", + "Place the rounded bowl with light blue color down and stack the bowl with brown outer rim on top.", + "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base on top of the medium-sized bowl for holding food.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl.", + "Take the dark inside bowl light blue outside, align the glazed bowl with curved sides, and stack them.", + "Position the curved bowl light blue shade carefully on the rounded bowl with light blue color.", + "Grab the glazed bowl with curved sides, lift it up, position the bowl with brown outer rim, and stack them.", + "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.", + "Grab the rounded bowl with light blue color, then carefully place the bowl with brown outer rim on top.", + "Grab the glazed bowl with curved sides with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Lift the glazed bowl with curved sides, stack it precisely on top of the glazed bowl with curved sides.", + "Set down the ceramic bowl with earthy brown trim and drop the curved bowl light blue shade on top.", + "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl on top.", + "Grab the ceramic bowl, position it, and place the curved bowl light blue shade on top.", + "Lift the blue bowl, put it on the table, and stack the blue bowl with slightly rounded base above.", + "Pick up the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the glazed bowl with curved sides.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the curved bowl light blue shade above it.", + "Position the bowl with shiny texture with the arm, then set the bowl with brown outer rim above it.", + "Position the bowl with shiny texture, lift the blue bowl, and place the blue bowl on the bowl with shiny texture." + ], + "unseen": [ + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode38.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..e04877943c9ac2ac614d8d2af5f1348a2e7a2116 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the glazed bowl with curved sides, align the blue bowl with slightly rounded base, and stack them.", + "Take the ceramic bowl, place the bowl with shiny texture above, and let go.", + "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.", + "Lift the blue bowl with slightly rounded base, position the small bowl with brown edge above it, and stack.", + "Pick up the dark inside bowl light blue outside using the left arm, then stack the glazed bowl with curved sides using the right arm.", + "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl on top.", + "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.", + "Set the curved bowl light blue shade over the small bowl with brown edge to create the stack.", + "Hold the bowl with shiny texture steady and slide the ceramic bowl with earthy brown trim on.", + "Position the ceramic bowl with earthy brown trim, lift the blue bowl, and place the blue bowl on the ceramic bowl with earthy brown trim.", + "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.", + "Grab the bowl with shiny texture, set it down, then place the curved bowl light blue shade over it.", + "Set the small bowl with brown edge down, then add the bowl with shiny texture over it.", + "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the dark inside bowl light blue outside with the right arm.", + "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.", + "the ceramic bowl goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.", + "Stack the bowl with brown outer rim carefully over the ceramic bowl.", + "Pick up the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with brown outer rim.", + "Place the ceramic bowl on the surface, then stack the curved bowl light blue shade above it.", + "Align the ceramic bowl with earthy brown trim over the ceramic bowl with earthy brown trim, then complete the stack.", + "Take the ceramic bowl, place it, and stack the curved bowl light blue shade on top.", + "Position the bowl with brown outer rim with the arm, then set the ceramic bowl above it.", + "Lift the blue bowl, stack it precisely on top of the curved bowl light blue shade.", + "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.", + "Align the ceramic bowl with earthy brown trim and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.", + "Position the small bowl with brown edge carefully on the bowl with shiny texture.", + "Lift the blue bowl with slightly rounded base and position it neatly over the glazed bowl with curved sides.", + "Lift the rounded bowl with light blue color, then stack it on the rounded bowl with light blue color.", + "Place the ceramic bowl down, then set the small bowl with brown edge above it.", + "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the blue bowl using the right arm.", + "Put the blue bowl with slightly rounded base first, then bring the bowl with brown outer rim to stack above.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl with slightly rounded base.", + "Grab the curved bowl light blue shade, then stack the small bowl with brown edge on top.", + "Pick up the small bowl with brown edge and set the bowl with shiny texture on it.", + "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.", + "Lift the bowl with brown outer rim, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with brown outer rim.", + "Lift the small bowl with brown edge, put it on the table, and stack the rounded bowl with light blue color above.", + "Grab the medium-sized bowl for holding food, lift it up, position the glazed bowl with curved sides, and stack them.", + "Set down the curved bowl light blue shade and drop the bowl with shiny texture on top.", + "Lift the glazed bowl with curved sides, lay it down, and stack the small bowl with brown edge on top.", + "Stack the small bowl with brown edge securely on top of the rounded bowl with light blue color.", + "Take the rounded bowl with light blue color, position it, then stack the medium-sized bowl for holding food directly above.", + "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim on top of the rounded bowl with light blue color.", + "Pick the bowl with shiny texture, position on the table, and place the blue bowl over it.", + "Place the ceramic bowl down and stack the medium-sized bowl for holding food on top.", + "Grab the bowl with brown outer rim, position it, and place the glazed bowl with curved sides on top.", + "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.", + "With the left arm, lift the glazed bowl with curved sides and stack the blue bowl with slightly rounded base using the right arm.", + "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.", + "Take the bowl with brown outer rim, place the curved bowl light blue shade above, and let go.", + "Arrange the blue bowl with slightly rounded base, lift the bowl with shiny texture with the arm, and stack them.", + "Lift the bowl with brown outer rim, position the glazed bowl with curved sides above it, and stack.", + "Pick up the blue bowl with slightly rounded base using the left arm, then stack the bowl with shiny texture using the right arm.", + "Pick up the curved bowl light blue shade, place it down, then position the dark inside bowl light blue outside on top.", + "Hold the rounded bowl with light blue color and stack the bowl with shiny texture neatly atop.", + "Set the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim to create the stack.", + "Hold the ceramic bowl with earthy brown trim steady and slide the rounded bowl with light blue color on.", + "Position the small bowl with brown edge, lift the blue bowl, and place the blue bowl on the small bowl with brown edge.", + "Position the ceramic bowl with earthy brown trim and stack the blue bowl securely onto it.", + "Grab the ceramic bowl, set it down, then place the bowl with brown outer rim over it.", + "Set the rounded bowl with light blue color down, then add the medium-sized bowl for holding food over it.", + "Use the left arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.", + "the curved bowl light blue shade goes at the bottom, the glazed bowl with curved sides rests above.", + "Grab the rounded bowl with light blue color, then carefully place the blue bowl on top.", + "Stack the ceramic bowl carefully over the small bowl with brown edge.", + "Pick up the rounded bowl with light blue color, grab the bowl with shiny texture, and stack the bowl with shiny texture on the rounded bowl with light blue color.", + "Place the blue bowl on the surface, then stack the small bowl with brown edge above it.", + "Align the bowl with shiny texture over the small bowl with brown edge, then complete the stack.", + "Take the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides on top.", + "Position the small bowl with brown edge with the arm, then set the blue bowl above it.", + "Lift the ceramic bowl, stack it precisely on top of the rounded bowl with light blue color.", + "Pick the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on it.", + "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Position the bowl with shiny texture carefully on the medium-sized bowl for holding food.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl.", + "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim.", + "Place the ceramic bowl down, then set the bowl with brown outer rim above it.", + "Lift the bowl with brown outer rim using the left arm, set it down, and stack the small bowl with brown edge using the right arm.", + "Put the blue bowl first, then bring the rounded bowl with light blue color to stack above.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.", + "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.", + "Pick up the ceramic bowl and set the ceramic bowl on it.", + "Pick the rounded bowl with light blue color, position the bowl with brown outer rim, and place it over the rounded bowl with light blue color.", + "Lift the bowl with brown outer rim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with brown outer rim.", + "Lift the bowl with shiny texture, put it on the table, and stack the small bowl with brown edge above.", + "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with brown outer rim, and stack them.", + "Set down the bowl with shiny texture and drop the glazed bowl with curved sides on top.", + "Lift the blue bowl, lay it down, and stack the rounded bowl with light blue color on top.", + "Stack the bowl with brown outer rim securely on top of the bowl with shiny texture.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.", + "Place the ceramic bowl down, then set the dark inside bowl light blue outside on top of the ceramic bowl.", + "Pick the rounded bowl with light blue color, position on the table, and place the small bowl with brown edge over it.", + "Place the rounded bowl with light blue color down and stack the blue bowl with slightly rounded base on top.", + "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.", + "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the small bowl with brown edge with the right arm.", + "With the left arm, lift the blue bowl and stack the blue bowl using the right arm.", + "Take the medium-sized bowl for holding food, align the bowl with brown outer rim, and stack them.", + "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go." + ], + "unseen": [ + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode39.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..180d65bb12ad4792a22febdf77a138b7a81273e1 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small bowl with brown edge, then carefully place the bowl with shiny texture on top.", + "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.", + "Grab the ceramic bowl, set it down, then place the medium-sized bowl for holding food over it.", + "Pick the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on it.", + "Pick the curved bowl light blue shade, position on the table, and place the medium-sized bowl for holding food over it.", + "With the right arm, lift the rounded bowl with light blue color and stack the blue bowl using the left arm.", + "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above.", + "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.", + "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl with slightly rounded base on top.", + "Set the blue bowl over the ceramic bowl with earthy brown trim to create the stack.", + "Align the rounded bowl with light blue color over the blue bowl with slightly rounded base, then complete the stack.", + "Hold the ceramic bowl steady and slide the ceramic bowl on.", + "Position the dark inside bowl light blue outside carefully on the medium-sized bowl for holding food.", + "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color on top of the medium-sized bowl for holding food.", + "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.", + "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.", + "Position the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.", + "Lift the blue bowl with slightly rounded base and position it neatly over the bowl with brown outer rim.", + "Lift the medium-sized bowl for holding food, then stack it on the blue bowl.", + "Align the ceramic bowl with earthy brown trim and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.", + "Pick the blue bowl, position the glazed bowl with curved sides, and place it over the blue bowl.", + "Use the right arm for the glazed bowl with curved sides, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Grab the curved bowl light blue shade with the right arm, place it, and stack the small bowl with brown edge with the left arm.", + "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.", + "Position the small bowl with brown edge with the arm, then set the ceramic bowl above it.", + "Pick up the medium-sized bowl for holding food, place it down, then position the dark inside bowl light blue outside on top.", + "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.", + "Pick up the curved bowl light blue shade and set the rounded bowl with light blue color on it.", + "Arrange the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food with the arm, and stack them.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl above.", + "Pick up the rounded bowl with light blue color using the right arm, then stack the small bowl with brown edge using the left arm.", + "Stack the glazed bowl with curved sides carefully over the small bowl with brown edge.", + "Grab the glazed bowl with curved sides, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.", + "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.", + "Take the medium-sized bowl for holding food, place the small bowl with brown edge above, and let go.", + "Grasp the bowl with brown outer rim, then use the arm to align and stack the small bowl with brown edge.", + "Put the blue bowl first, then bring the ceramic bowl to stack above.", + "Pick up the ceramic bowl, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl.", + "Place the curved bowl light blue shade down, then set the blue bowl above it.", + "Position the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base securely onto it.", + "Lift the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the dark inside bowl light blue outside.", + "Lift the medium-sized bowl for holding food, position the blue bowl with slightly rounded base above it, and stack.", + "Set down the bowl with brown outer rim and drop the small bowl with brown edge on top.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the curved bowl light blue shade.", + "Use the arm to place the blue bowl, then stack the ceramic bowl on top.", + "Place the blue bowl down and stack the bowl with shiny texture on top.", + "Take the curved bowl light blue shade, place it, and stack the bowl with brown outer rim on top.", + "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.", + "Grab the dark inside bowl light blue outside, then carefully place the bowl with brown outer rim on top.", + "Place the small bowl with brown edge on the surface, then stack the bowl with shiny texture above it.", + "Grab the small bowl with brown edge, set it down, then place the medium-sized bowl for holding food over it.", + "Pick the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on it.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the ceramic bowl over it.", + "With the right arm, lift the rounded bowl with light blue color and stack the rounded bowl with light blue color using the left arm.", + "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Take the medium-sized bowl for holding food, position it, then stack the curved bowl light blue shade directly above.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the glazed bowl with curved sides on top.", + "Set the glazed bowl with curved sides over the ceramic bowl with earthy brown trim to create the stack.", + "Align the blue bowl over the ceramic bowl with earthy brown trim, then complete the stack.", + "Hold the blue bowl steady and slide the curved bowl light blue shade on.", + "Position the dark inside bowl light blue outside carefully on the bowl with shiny texture.", + "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl on top of the ceramic bowl with earthy brown trim.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl with slightly rounded base on top.", + "Hold the curved bowl light blue shade and stack the small bowl with brown edge neatly atop.", + "Position the glazed bowl with curved sides, lift the bowl with shiny texture, and place the bowl with shiny texture on the glazed bowl with curved sides.", + "Lift the dark inside bowl light blue outside and position it neatly over the dark inside bowl light blue outside.", + "Lift the blue bowl, then stack it on the small bowl with brown edge.", + "Align the ceramic bowl with earthy brown trim and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl with earthy brown trim.", + "Pick the rounded bowl with light blue color, position the bowl with shiny texture, and place it over the rounded bowl with light blue color.", + "Use the right arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with the left arm.", + "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.", + "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl with slightly rounded base above it.", + "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.", + "Set the small bowl with brown edge down, then add the bowl with brown outer rim over it.", + "Pick up the rounded bowl with light blue color and set the rounded bowl with light blue color on it.", + "Arrange the dark inside bowl light blue outside, lift the bowl with shiny texture with the arm, and stack them.", + "Lift the bowl with brown outer rim, put it on the table, and stack the bowl with brown outer rim above.", + "Pick up the medium-sized bowl for holding food using the right arm, then stack the small bowl with brown edge using the left arm.", + "Stack the blue bowl with slightly rounded base carefully over the bowl with shiny texture.", + "Grab the blue bowl, lift it up, position the bowl with shiny texture, and stack them.", + "Take the ceramic bowl, align the ceramic bowl with earthy brown trim, and stack them.", + "Grab the bowl with shiny texture, then stack the small bowl with brown edge on top.", + "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.", + "Grasp the glazed bowl with curved sides, then use the arm to align and stack the curved bowl light blue shade.", + "Put the small bowl with brown edge first, then bring the dark inside bowl light blue outside to stack above.", + "Pick up the medium-sized bowl for holding food, grab the ceramic bowl, and stack the ceramic bowl on the medium-sized bowl for holding food.", + "Place the small bowl with brown edge down, then set the curved bowl light blue shade above it.", + "Position the dark inside bowl light blue outside and stack the medium-sized bowl for holding food securely onto it.", + "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.", + "Lift the curved bowl light blue shade, position the glazed bowl with curved sides above it, and stack.", + "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.", + "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.", + "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.", + "Place the bowl with shiny texture down and stack the glazed bowl with curved sides on top.", + "Take the bowl with brown outer rim, place it, and stack the dark inside bowl light blue outside on top.", + "Stack the rounded bowl with light blue color securely on top of the dark inside bowl light blue outside.", + "Grab the glazed bowl with curved sides, then carefully place the rounded bowl with light blue color on top.", + "Place the ceramic bowl on the surface, then stack the dark inside bowl light blue outside above it." + ], + "unseen": [ + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode4.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..2a4f85d3d0e6f550dffcdfeef7dfdb811f0433f6 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Stack the ceramic bowl carefully over the blue bowl.", + "Put the glazed bowl with curved sides first, then bring the curved bowl light blue shade to stack above.", + "Pick the bowl with brown outer rim, position the medium-sized bowl for holding food, and place it over the bowl with brown outer rim.", + "Pick up the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the dark inside bowl light blue outside.", + "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.", + "Pick up the blue bowl with slightly rounded base using the left arm, then stack the glazed bowl with curved sides using the right arm.", + "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.", + "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Lift the blue bowl, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Set down the bowl with shiny texture and drop the bowl with brown outer rim on top.", + "Lift the curved bowl light blue shade, then stack it on the ceramic bowl.", + "Take the small bowl with brown edge, align the bowl with brown outer rim, and stack them.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with brown outer rim above it.", + "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.", + "Position the blue bowl carefully on the bowl with shiny texture.", + "Stack the medium-sized bowl for holding food securely on top of the curved bowl light blue shade.", + "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with brown outer rim.", + "Pick the dark inside bowl light blue outside, position on the table, and place the dark inside bowl light blue outside over it.", + "Take the curved bowl light blue shade, place it, and stack the ceramic bowl on top.", + "Align the blue bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl.", + "Lift the bowl with shiny texture, put it on the table, and stack the curved bowl light blue shade above.", + "Hold the bowl with brown outer rim steady and slide the medium-sized bowl for holding food on.", + "Grab the curved bowl light blue shade, then stack the blue bowl on top.", + "Align the small bowl with brown edge over the blue bowl, then complete the stack.", + "Position the glazed bowl with curved sides with the arm, then set the dark inside bowl light blue outside above it.", + "Pick the ceramic bowl, then stack the ceramic bowl with earthy brown trim on it.", + "Set the curved bowl light blue shade down, then add the medium-sized bowl for holding food over it.", + "Lift the glazed bowl with curved sides and position it neatly over the curved bowl light blue shade.", + "Position the dark inside bowl light blue outside and stack the dark inside bowl light blue outside securely onto it.", + "the bowl with brown outer rim goes at the bottom, the rounded bowl with light blue color rests above.", + "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with the right arm.", + "With the left arm, lift the bowl with shiny texture and stack the blue bowl with slightly rounded base using the right arm.", + "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with the right arm.", + "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.", + "Take the ceramic bowl, position it, then stack the ceramic bowl directly above.", + "Grab the glazed bowl with curved sides, lift it up, position the curved bowl light blue shade, and stack them.", + "Grab the glazed bowl with curved sides, then carefully place the medium-sized bowl for holding food on top.", + "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.", + "Place the ceramic bowl down and stack the medium-sized bowl for holding food on top.", + "Lift the medium-sized bowl for holding food, position the curved bowl light blue shade above it, and stack.", + "Position the ceramic bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl.", + "Set the curved bowl light blue shade over the small bowl with brown edge to create the stack.", + "Take the bowl with shiny texture, place the ceramic bowl with earthy brown trim above, and let go.", + "Grab the rounded bowl with light blue color, position it, and place the dark inside bowl light blue outside on top.", + "Pick up the blue bowl and set the bowl with shiny texture on it.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the medium-sized bowl for holding food on top.", + "Lift the curved bowl light blue shade, grab the small bowl with brown edge, and set the small bowl with brown edge on the curved bowl light blue shade.", + "Arrange the glazed bowl with curved sides, lift the medium-sized bowl for holding food with the arm, and stack them.", + "Hold the ceramic bowl and stack the blue bowl neatly atop.", + "Stack the blue bowl carefully over the bowl with shiny texture.", + "Put the blue bowl with slightly rounded base first, then bring the blue bowl with slightly rounded base to stack above.", + "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.", + "Pick up the bowl with shiny texture, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the bowl with shiny texture.", + "Place the blue bowl down, then set the blue bowl on top of the blue bowl.", + "Pick up the rounded bowl with light blue color using the left arm, then stack the curved bowl light blue shade using the right arm.", + "Grab the glazed bowl with curved sides, set it down, then place the blue bowl over it.", + "Lift the glazed bowl with curved sides, lay it down, and stack the curved bowl light blue shade on top.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the curved bowl light blue shade.", + "Set down the dark inside bowl light blue outside and drop the blue bowl with slightly rounded base on top.", + "Lift the small bowl with brown edge, then stack it on the dark inside bowl light blue outside.", + "Take the medium-sized bowl for holding food, align the rounded bowl with light blue color, and stack them.", + "Place the bowl with shiny texture on the surface, then stack the dark inside bowl light blue outside above it.", + "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food above it.", + "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.", + "Stack the ceramic bowl securely on top of the curved bowl light blue shade.", + "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the rounded bowl with light blue color.", + "Pick the ceramic bowl, position on the table, and place the bowl with shiny texture over it.", + "Take the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge on top.", + "Align the glazed bowl with curved sides and the blue bowl, then stack the blue bowl on the glazed bowl with curved sides.", + "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl with slightly rounded base above.", + "Hold the small bowl with brown edge steady and slide the curved bowl light blue shade on.", + "Grab the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.", + "Align the bowl with shiny texture over the bowl with brown outer rim, then complete the stack.", + "Position the rounded bowl with light blue color with the arm, then set the dark inside bowl light blue outside above it.", + "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.", + "Set the blue bowl with slightly rounded base down, then add the bowl with shiny texture over it.", + "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.", + "Position the bowl with brown outer rim and stack the bowl with shiny texture securely onto it.", + "the small bowl with brown edge goes at the bottom, the small bowl with brown edge rests above.", + "Use the left arm for the ceramic bowl, place it, and stack the medium-sized bowl for holding food with the right arm.", + "With the left arm, lift the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food using the right arm.", + "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the blue bowl with the right arm.", + "Lift the ceramic bowl using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.", + "Take the rounded bowl with light blue color, position it, then stack the bowl with shiny texture directly above.", + "Grab the glazed bowl with curved sides, lift it up, position the rounded bowl with light blue color, and stack them.", + "Grab the blue bowl with slightly rounded base, then carefully place the bowl with brown outer rim on top.", + "Use the arm to place the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.", + "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl with earthy brown trim on top.", + "Lift the curved bowl light blue shade, position the curved bowl light blue shade above it, and stack.", + "Position the rounded bowl with light blue color, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the rounded bowl with light blue color.", + "Set the curved bowl light blue shade over the bowl with brown outer rim to create the stack.", + "Take the glazed bowl with curved sides, place the ceramic bowl with earthy brown trim above, and let go.", + "Grab the bowl with shiny texture, position it, and place the ceramic bowl with earthy brown trim on top.", + "Pick up the small bowl with brown edge and set the small bowl with brown edge on it.", + "Pick up the curved bowl light blue shade, place it down, then position the glazed bowl with curved sides on top.", + "Lift the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.", + "Arrange the bowl with shiny texture, lift the bowl with brown outer rim with the arm, and stack them.", + "Hold the ceramic bowl with earthy brown trim and stack the small bowl with brown edge neatly atop.", + "Stack the rounded bowl with light blue color carefully over the glazed bowl with curved sides.", + "Put the medium-sized bowl for holding food first, then bring the dark inside bowl light blue outside to stack above." + ], + "unseen": [ + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode40.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..7b922c49fb3b7d533da2ab177649524c6305c038 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the glazed bowl with curved sides, position the bowl with shiny texture, and place it over the glazed bowl with curved sides.", + "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the rounded bowl with light blue color with the right arm.", + "Grab the bowl with brown outer rim, position it, and place the medium-sized bowl for holding food on top.", + "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.", + "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.", + "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.", + "Grab the ceramic bowl with the right arm, place it, and stack the curved bowl light blue shade with the right arm.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl.", + "Grab the small bowl with brown edge, set it down, then place the bowl with brown outer rim over it.", + "Lift the curved bowl light blue shade, then stack it on the blue bowl with slightly rounded base.", + "Lift the bowl with shiny texture, position the bowl with brown outer rim above it, and stack.", + "Take the dark inside bowl light blue outside, position it, then stack the bowl with brown outer rim directly above.", + "Place the blue bowl with slightly rounded base down, then set the blue bowl on top of the blue bowl with slightly rounded base.", + "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Align the blue bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the blue bowl.", + "Grab the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.", + "Pick up the small bowl with brown edge using the right arm, then stack the bowl with shiny texture using the right arm.", + "Lift the rounded bowl with light blue color, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the rounded bowl with light blue color.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.", + "Take the blue bowl, place the dark inside bowl light blue outside above, and let go.", + "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.", + "Pick the ceramic bowl, then stack the bowl with shiny texture on it.", + "Stack the rounded bowl with light blue color carefully over the blue bowl.", + "Take the small bowl with brown edge, place it, and stack the small bowl with brown edge on top.", + "Place the blue bowl down and stack the blue bowl on top.", + "Pick up the curved bowl light blue shade and set the ceramic bowl on it.", + "Set down the blue bowl and drop the dark inside bowl light blue outside on top.", + "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.", + "Position the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl with slightly rounded base.", + "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the small bowl with brown edge using the right arm.", + "Align the blue bowl over the ceramic bowl, then complete the stack.", + "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the small bowl with brown edge above it.", + "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl with earthy brown trim.", + "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl.", + "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.", + "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl on.", + "Place the medium-sized bowl for holding food on the surface, then stack the glazed bowl with curved sides above it.", + "Lift the bowl with shiny texture, lay it down, and stack the curved bowl light blue shade on top.", + "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.", + "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.", + "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.", + "With the right arm, lift the medium-sized bowl for holding food and stack the curved bowl light blue shade using the right arm.", + "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.", + "Take the dark inside bowl light blue outside, align the ceramic bowl with earthy brown trim, and stack them.", + "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.", + "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.", + "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.", + "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.", + "Pick the small bowl with brown edge, position the glazed bowl with curved sides, and place it over the small bowl with brown edge.", + "Use the right arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the right arm.", + "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl on top.", + "Set the dark inside bowl light blue outside over the ceramic bowl to create the stack.", + "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.", + "Stack the curved bowl light blue shade securely on top of the bowl with shiny texture.", + "Grab the ceramic bowl with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with brown outer rim.", + "Grab the bowl with shiny texture, set it down, then place the bowl with shiny texture over it.", + "Lift the bowl with brown outer rim, then stack it on the curved bowl light blue shade.", + "Lift the small bowl with brown edge, position the blue bowl above it, and stack.", + "Take the glazed bowl with curved sides, position it, then stack the bowl with shiny texture directly above.", + "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside on top of the dark inside bowl light blue outside.", + "Pick the curved bowl light blue shade, position on the table, and place the blue bowl over it.", + "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.", + "Grab the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.", + "Pick up the blue bowl using the right arm, then stack the rounded bowl with light blue color using the right arm.", + "Lift the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the medium-sized bowl for holding food.", + "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.", + "Take the medium-sized bowl for holding food, place the bowl with brown outer rim above, and let go.", + "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.", + "Pick the curved bowl light blue shade, then stack the medium-sized bowl for holding food on it.", + "Stack the blue bowl with slightly rounded base carefully over the medium-sized bowl for holding food.", + "Take the blue bowl, place it, and stack the blue bowl on top.", + "Place the ceramic bowl down and stack the small bowl with brown edge on top.", + "Pick up the bowl with shiny texture and set the bowl with shiny texture on it.", + "Set down the bowl with shiny texture and drop the small bowl with brown edge on top.", + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl above.", + "Position the blue bowl, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl.", + "Lift the bowl with shiny texture using the right arm, set it down, and stack the small bowl with brown edge using the right arm.", + "Align the rounded bowl with light blue color over the blue bowl with slightly rounded base, then complete the stack.", + "Grab the curved bowl light blue shade, then carefully place the blue bowl with slightly rounded base on top.", + "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Lift the ceramic bowl and position it neatly over the blue bowl with slightly rounded base.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the small bowl with brown edge.", + "Position the glazed bowl with curved sides carefully on the ceramic bowl.", + "Hold the dark inside bowl light blue outside steady and slide the medium-sized bowl for holding food on.", + "Place the medium-sized bowl for holding food on the surface, then stack the small bowl with brown edge above it.", + "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl with slightly rounded base on top.", + "Hold the dark inside bowl light blue outside and stack the rounded bowl with light blue color neatly atop.", + "Put the blue bowl first, then bring the bowl with shiny texture to stack above.", + "Position the blue bowl and stack the medium-sized bowl for holding food securely onto it.", + "With the right arm, lift the dark inside bowl light blue outside and stack the ceramic bowl using the right arm.", + "the ceramic bowl goes at the bottom, the small bowl with brown edge rests above.", + "Take the ceramic bowl, align the blue bowl with slightly rounded base, and stack them.", + "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.", + "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl with slightly rounded base on top.", + "Arrange the glazed bowl with curved sides, lift the ceramic bowl with the arm, and stack them.", + "Place the ceramic bowl down, then set the blue bowl above it.", + "Pick the ceramic bowl with earthy brown trim, position the blue bowl, and place it over the ceramic bowl with earthy brown trim.", + "Use the right arm for the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color with the right arm." + ], + "unseen": [ + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode41.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..7a151de42e71e0fefe230baeb8e821710f25e4ea --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Stack the curved bowl light blue shade securely on top of the blue bowl.", + "Take the blue bowl, align the rounded bowl with light blue color, and stack them.", + "Use the left arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "the bowl with brown outer rim goes at the bottom, the blue bowl rests above.", + "Grab the rounded bowl with light blue color, set it down, then place the curved bowl light blue shade over it.", + "Position the glazed bowl with curved sides and stack the curved bowl light blue shade securely onto it.", + "Pick up the blue bowl and set the ceramic bowl on it.", + "Grab the dark inside bowl light blue outside, lift it up, position the bowl with shiny texture, and stack them.", + "Take the blue bowl, position it, then stack the bowl with brown outer rim directly above.", + "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.", + "Pick the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on it.", + "Pick the glazed bowl with curved sides, position the ceramic bowl, and place it over the glazed bowl with curved sides.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.", + "Align the dark inside bowl light blue outside over the blue bowl with slightly rounded base, then complete the stack.", + "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.", + "Put the blue bowl with slightly rounded base first, then bring the blue bowl with slightly rounded base to stack above.", + "Grab the bowl with brown outer rim, position it, and place the bowl with brown outer rim on top.", + "Grab the bowl with shiny texture, then stack the glazed bowl with curved sides on top.", + "Lift the medium-sized bowl for holding food, then stack it on the small bowl with brown edge.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl on top.", + "Lift the small bowl with brown edge, grab the ceramic bowl, and set the ceramic bowl on the small bowl with brown edge.", + "Place the dark inside bowl light blue outside down and stack the small bowl with brown edge on top.", + "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.", + "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.", + "Pick the bowl with brown outer rim, position on the table, and place the rounded bowl with light blue color over it.", + "Position the medium-sized bowl for holding food with the arm, then set the rounded bowl with light blue color above it.", + "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl on top.", + "Arrange the ceramic bowl, lift the curved bowl light blue shade with the arm, and stack them.", + "Position the curved bowl light blue shade carefully on the rounded bowl with light blue color.", + "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the small bowl with brown edge.", + "Align the blue bowl with slightly rounded base and the ceramic bowl, then stack the ceramic bowl on the blue bowl with slightly rounded base.", + "Set the ceramic bowl down, then add the bowl with shiny texture over it.", + "Pick up the rounded bowl with light blue color using the left arm, then stack the medium-sized bowl for holding food using the right arm.", + "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.", + "Pick up the rounded bowl with light blue color, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the rounded bowl with light blue color.", + "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.", + "Hold the dark inside bowl light blue outside steady and slide the bowl with brown outer rim on.", + "With the left arm, lift the dark inside bowl light blue outside and stack the bowl with brown outer rim using the right arm.", + "Lift the curved bowl light blue shade, put it on the table, and stack the curved bowl light blue shade above.", + "Set the bowl with brown outer rim over the blue bowl with slightly rounded base to create the stack.", + "Lift the small bowl with brown edge, stack it precisely on top of the rounded bowl with light blue color.", + "Hold the blue bowl and stack the ceramic bowl neatly atop.", + "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.", + "Grab the bowl with shiny texture with the left arm, place it, and stack the bowl with brown outer rim with the right arm.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl above it.", + "Stack the bowl with shiny texture carefully over the ceramic bowl.", + "Set down the bowl with shiny texture and drop the blue bowl with slightly rounded base on top.", + "Lift the blue bowl, position the bowl with shiny texture above it, and stack.", + "Stack the glazed bowl with curved sides securely on top of the medium-sized bowl for holding food.", + "Take the dark inside bowl light blue outside, align the glazed bowl with curved sides, and stack them.", + "Use the left arm for the glazed bowl with curved sides, place it, and stack the dark inside bowl light blue outside with the right arm.", + "the ceramic bowl with earthy brown trim goes at the bottom, the glazed bowl with curved sides rests above.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the glazed bowl with curved sides over it.", + "Position the blue bowl and stack the glazed bowl with curved sides securely onto it.", + "Pick up the ceramic bowl with earthy brown trim and set the curved bowl light blue shade on it.", + "Grab the small bowl with brown edge, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Take the rounded bowl with light blue color, position it, then stack the bowl with shiny texture directly above.", + "Take the curved bowl light blue shade, place it, and stack the curved bowl light blue shade on top.", + "Pick the small bowl with brown edge, then stack the blue bowl on it.", + "Pick the ceramic bowl, position the small bowl with brown edge, and place it over the ceramic bowl.", + "Use the arm to place the glazed bowl with curved sides, then stack the small bowl with brown edge on top.", + "Align the glazed bowl with curved sides over the rounded bowl with light blue color, then complete the stack.", + "Lift the bowl with shiny texture using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.", + "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.", + "Grab the curved bowl light blue shade, position it, and place the glazed bowl with curved sides on top.", + "Grab the bowl with shiny texture, then stack the ceramic bowl on top.", + "Lift the ceramic bowl, then stack it on the ceramic bowl.", + "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with brown outer rim on top.", + "Lift the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the medium-sized bowl for holding food.", + "Place the small bowl with brown edge down and stack the blue bowl on top.", + "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.", + "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl with earthy brown trim on top.", + "Pick the ceramic bowl, position on the table, and place the blue bowl with slightly rounded base over it.", + "Position the rounded bowl with light blue color with the arm, then set the small bowl with brown edge above it.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the medium-sized bowl for holding food on top.", + "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.", + "Position the small bowl with brown edge carefully on the dark inside bowl light blue outside.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.", + "Align the bowl with brown outer rim and the blue bowl, then stack the blue bowl on the bowl with brown outer rim.", + "Set the ceramic bowl with earthy brown trim down, then add the bowl with shiny texture over it.", + "Pick up the curved bowl light blue shade using the left arm, then stack the blue bowl using the right arm.", + "Position the ceramic bowl with earthy brown trim, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the ceramic bowl with earthy brown trim.", + "Pick up the blue bowl with slightly rounded base, grab the blue bowl, and stack the blue bowl on the blue bowl with slightly rounded base.", + "Place the curved bowl light blue shade down, then set the bowl with shiny texture above it.", + "Lift the bowl with shiny texture and position it neatly over the rounded bowl with light blue color.", + "Hold the medium-sized bowl for holding food steady and slide the medium-sized bowl for holding food on.", + "With the left arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base using the right arm.", + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the medium-sized bowl for holding food above.", + "Set the bowl with shiny texture over the rounded bowl with light blue color to create the stack.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the rounded bowl with light blue color.", + "Hold the bowl with brown outer rim and stack the ceramic bowl neatly atop.", + "Place the bowl with brown outer rim down, then set the bowl with brown outer rim on top of the bowl with brown outer rim.", + "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.", + "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl above it.", + "Stack the glazed bowl with curved sides carefully over the rounded bowl with light blue color.", + "Set down the blue bowl and drop the bowl with brown outer rim on top.", + "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.", + "Stack the blue bowl securely on top of the bowl with shiny texture.", + "Take the bowl with shiny texture, align the curved bowl light blue shade, and stack them." + ], + "unseen": [ + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode42.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..a9497a82a3644d262aecadbbcb79a83a39314746 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the curved bowl light blue shade, place the curved bowl light blue shade above, and let go.", + "Place the glazed bowl with curved sides on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.", + "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim on top of the blue bowl with slightly rounded base.", + "Use the right arm for the small bowl with brown edge, place it, and stack the blue bowl with the right arm.", + "Set the ceramic bowl over the glazed bowl with curved sides to create the stack.", + "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the bowl with brown outer rim with the right arm.", + "Pick the bowl with brown outer rim, then stack the dark inside bowl light blue outside on it.", + "Position the blue bowl with slightly rounded base carefully on the rounded bowl with light blue color.", + "Take the bowl with shiny texture, position it, then stack the glazed bowl with curved sides directly above.", + "Lift the dark inside bowl light blue outside and position it neatly over the curved bowl light blue shade.", + "Grab the small bowl with brown edge, position it, and place the ceramic bowl with earthy brown trim on top.", + "Lift the small bowl with brown edge, position the curved bowl light blue shade above it, and stack.", + "Pick up the medium-sized bowl for holding food using the right arm, then stack the blue bowl with slightly rounded base using the right arm.", + "Place the curved bowl light blue shade down and stack the rounded bowl with light blue color on top.", + "Align the medium-sized bowl for holding food over the medium-sized bowl for holding food, then complete the stack.", + "Grasp the blue bowl, then use the arm to align and stack the bowl with shiny texture.", + "Lift the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the medium-sized bowl for holding food.", + "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.", + "Align the ceramic bowl and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl.", + "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.", + "Grab the glazed bowl with curved sides, lift it up, position the bowl with shiny texture, and stack them.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the curved bowl light blue shade.", + "Pick up the small bowl with brown edge and set the small bowl with brown edge on it.", + "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides above it.", + "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.", + "Put the rounded bowl with light blue color first, then bring the bowl with shiny texture to stack above.", + "Grab the glazed bowl with curved sides, then carefully place the glazed bowl with curved sides on top.", + "Position the dark inside bowl light blue outside, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the dark inside bowl light blue outside.", + "Hold the bowl with shiny texture and stack the blue bowl with slightly rounded base neatly atop.", + "Hold the glazed bowl with curved sides steady and slide the dark inside bowl light blue outside on.", + "Position the curved bowl light blue shade and stack the dark inside bowl light blue outside securely onto it.", + "Lift the ceramic bowl using the right arm, set it down, and stack the small bowl with brown edge using the right arm.", + "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.", + "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.", + "the curved bowl light blue shade goes at the bottom, the curved bowl light blue shade rests above.", + "Stack the rounded bowl with light blue color securely on top of the dark inside bowl light blue outside.", + "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl on top.", + "Lift the small bowl with brown edge, lay it down, and stack the glazed bowl with curved sides on top.", + "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.", + "Stack the ceramic bowl carefully over the small bowl with brown edge.", + "Lift the ceramic bowl, put it on the table, and stack the glazed bowl with curved sides above.", + "Pick up the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.", + "Arrange the rounded bowl with light blue color, lift the bowl with brown outer rim with the arm, and stack them.", + "Position the small bowl with brown edge with the arm, then set the glazed bowl with curved sides above it.", + "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.", + "Set the bowl with brown outer rim down, then add the curved bowl light blue shade over it.", + "With the right arm, lift the medium-sized bowl for holding food and stack the blue bowl using the right arm.", + "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.", + "Take the curved bowl light blue shade, place the dark inside bowl light blue outside above, and let go.", + "Place the small bowl with brown edge on the surface, then stack the curved bowl light blue shade above it.", + "Use the arm to place the ceramic bowl, then stack the ceramic bowl with earthy brown trim on top.", + "Place the glazed bowl with curved sides down, then set the small bowl with brown edge on top of the glazed bowl with curved sides.", + "Use the right arm for the blue bowl, place it, and stack the blue bowl with slightly rounded base with the right arm.", + "Set the medium-sized bowl for holding food over the dark inside bowl light blue outside to create the stack.", + "Grab the small bowl with brown edge with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.", + "Pick the bowl with brown outer rim, then stack the bowl with shiny texture on it.", + "Position the rounded bowl with light blue color carefully on the medium-sized bowl for holding food.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl directly above.", + "Lift the ceramic bowl and position it neatly over the bowl with shiny texture.", + "Grab the bowl with shiny texture, position it, and place the bowl with shiny texture on top.", + "Lift the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim above it, and stack.", + "Pick up the medium-sized bowl for holding food using the right arm, then stack the bowl with brown outer rim using the right arm.", + "Place the blue bowl with slightly rounded base down and stack the curved bowl light blue shade on top.", + "Align the ceramic bowl over the blue bowl with slightly rounded base, then complete the stack.", + "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the curved bowl light blue shade.", + "Lift the ceramic bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl.", + "Grab the rounded bowl with light blue color, then stack the glazed bowl with curved sides on top.", + "Align the blue bowl with slightly rounded base and the ceramic bowl, then stack the ceramic bowl on the blue bowl with slightly rounded base.", + "Take the bowl with shiny texture, align the rounded bowl with light blue color, and stack them.", + "Grab the curved bowl light blue shade, lift it up, position the blue bowl, and stack them.", + "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl.", + "Pick up the curved bowl light blue shade and set the medium-sized bowl for holding food on it.", + "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade above it.", + "Set down the bowl with brown outer rim and drop the ceramic bowl on top.", + "Put the blue bowl with slightly rounded base first, then bring the blue bowl to stack above.", + "Grab the glazed bowl with curved sides, then carefully place the bowl with brown outer rim on top.", + "Position the curved bowl light blue shade, lift the blue bowl, and place the blue bowl on the curved bowl light blue shade.", + "Hold the curved bowl light blue shade and stack the blue bowl with slightly rounded base neatly atop.", + "Hold the bowl with shiny texture steady and slide the bowl with shiny texture on.", + "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.", + "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the ceramic bowl using the right arm.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Lift the medium-sized bowl for holding food, then stack it on the blue bowl with slightly rounded base.", + "the glazed bowl with curved sides goes at the bottom, the medium-sized bowl for holding food rests above.", + "Stack the medium-sized bowl for holding food securely on top of the glazed bowl with curved sides.", + "Take the glazed bowl with curved sides, place it, and stack the bowl with shiny texture on top.", + "Lift the bowl with shiny texture, lay it down, and stack the dark inside bowl light blue outside on top.", + "Pick the medium-sized bowl for holding food, position the dark inside bowl light blue outside, and place it over the medium-sized bowl for holding food.", + "Stack the bowl with shiny texture carefully over the curved bowl light blue shade.", + "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.", + "Pick up the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl with slightly rounded base.", + "Arrange the blue bowl, lift the rounded bowl with light blue color with the arm, and stack them.", + "Position the small bowl with brown edge with the arm, then set the blue bowl above it.", + "Grab the ceramic bowl, set it down, then place the ceramic bowl over it.", + "Set the bowl with brown outer rim down, then add the dark inside bowl light blue outside over it.", + "With the right arm, lift the ceramic bowl with earthy brown trim and stack the bowl with shiny texture using the right arm.", + "Pick up the dark inside bowl light blue outside, place it down, then position the dark inside bowl light blue outside on top.", + "Take the dark inside bowl light blue outside, place the bowl with brown outer rim above, and let go.", + "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it." + ], + "unseen": [ + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode43.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..5d9e016ec04ef7108a34000020d639e44a0a8865 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the ceramic bowl steady and slide the medium-sized bowl for holding food on.", + "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.", + "Hold the small bowl with brown edge and stack the bowl with brown outer rim neatly atop.", + "Pick up the bowl with brown outer rim, place it down, then position the rounded bowl with light blue color on top.", + "Lift the dark inside bowl light blue outside, grab the bowl with shiny texture, and set the bowl with shiny texture on the dark inside bowl light blue outside.", + "Position the small bowl with brown edge carefully on the curved bowl light blue shade.", + "Lift the bowl with brown outer rim, then stack it on the glazed bowl with curved sides.", + "Pick up the curved bowl light blue shade, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the curved bowl light blue shade.", + "Align the curved bowl light blue shade and the small bowl with brown edge, then stack the small bowl with brown edge on the curved bowl light blue shade.", + "Take the bowl with shiny texture, place it, and stack the small bowl with brown edge on top.", + "Grab the glazed bowl with curved sides, then stack the blue bowl on top.", + "Grasp the rounded bowl with light blue color, then use the arm to align and stack the curved bowl light blue shade.", + "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.", + "Take the medium-sized bowl for holding food, align the ceramic bowl with earthy brown trim, and stack them.", + "Place the glazed bowl with curved sides on the surface, then stack the bowl with brown outer rim above it.", + "Arrange the rounded bowl with light blue color, lift the curved bowl light blue shade with the arm, and stack them.", + "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Take the blue bowl, place the glazed bowl with curved sides above, and let go.", + "Place the bowl with brown outer rim down and stack the bowl with shiny texture on top.", + "Lift the small bowl with brown edge using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.", + "Position the small bowl with brown edge with the arm, then set the glazed bowl with curved sides above it.", + "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl above.", + "Lift the blue bowl, lay it down, and stack the bowl with shiny texture on top.", + "Pick up the blue bowl with slightly rounded base and set the ceramic bowl with earthy brown trim on it.", + "Grab the small bowl with brown edge, position it, and place the small bowl with brown edge on top.", + "Lift the bowl with shiny texture, stack it precisely on top of the medium-sized bowl for holding food.", + "Place the rounded bowl with light blue color down, then set the blue bowl on top of the rounded bowl with light blue color.", + "Place the small bowl with brown edge down, then set the ceramic bowl above it.", + "Pick the blue bowl with slightly rounded base, position the bowl with brown outer rim, and place it over the blue bowl with slightly rounded base.", + "Use the right arm for the glazed bowl with curved sides, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Set the medium-sized bowl for holding food down, then add the blue bowl with slightly rounded base over it.", + "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl with slightly rounded base over it.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on top.", + "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl.", + "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the ceramic bowl using the left arm.", + "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.", + "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.", + "the bowl with brown outer rim goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl over it.", + "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with the left arm.", + "Lift the small bowl with brown edge, position the small bowl with brown edge above it, and stack.", + "Position the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim securely onto it.", + "Grab the blue bowl with slightly rounded base, then carefully place the small bowl with brown edge on top.", + "Stack the ceramic bowl carefully over the blue bowl.", + "With the right arm, lift the ceramic bowl and stack the bowl with shiny texture using the left arm.", + "Align the medium-sized bowl for holding food over the bowl with shiny texture, then complete the stack.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the ceramic bowl directly above.", + "Set the medium-sized bowl for holding food over the dark inside bowl light blue outside to create the stack.", + "Hold the blue bowl with slightly rounded base steady and slide the small bowl with brown edge on.", + "Put the glazed bowl with curved sides first, then bring the rounded bowl with light blue color to stack above.", + "Hold the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim neatly atop.", + "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl on top.", + "Lift the ceramic bowl, grab the blue bowl, and set the blue bowl on the ceramic bowl.", + "Position the bowl with brown outer rim carefully on the rounded bowl with light blue color.", + "Lift the glazed bowl with curved sides, then stack it on the dark inside bowl light blue outside.", + "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.", + "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.", + "Take the small bowl with brown edge, place it, and stack the ceramic bowl on top.", + "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Pick the curved bowl light blue shade, then stack the small bowl with brown edge on it.", + "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.", + "Place the blue bowl on the surface, then stack the ceramic bowl above it.", + "Arrange the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base with the arm, and stack them.", + "Grab the ceramic bowl, lift it up, position the blue bowl, and stack them.", + "Take the blue bowl with slightly rounded base, place the bowl with brown outer rim above, and let go.", + "Place the bowl with brown outer rim down and stack the glazed bowl with curved sides on top.", + "Lift the small bowl with brown edge using the right arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Position the curved bowl light blue shade with the arm, then set the ceramic bowl above it.", + "Lift the small bowl with brown edge, put it on the table, and stack the dark inside bowl light blue outside above.", + "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.", + "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl with earthy brown trim on it.", + "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.", + "Lift the blue bowl, stack it precisely on top of the dark inside bowl light blue outside.", + "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside on top of the curved bowl light blue shade.", + "Place the ceramic bowl down, then set the rounded bowl with light blue color above it.", + "Pick the blue bowl with slightly rounded base, position the rounded bowl with light blue color, and place it over the blue bowl with slightly rounded base.", + "Use the right arm for the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.", + "Stack the small bowl with brown edge securely on top of the bowl with shiny texture.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with shiny texture over it.", + "Use the arm to place the ceramic bowl, then stack the glazed bowl with curved sides on top.", + "Lift the ceramic bowl and position it neatly over the curved bowl light blue shade.", + "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the glazed bowl with curved sides using the left arm.", + "Position the dark inside bowl light blue outside, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the dark inside bowl light blue outside.", + "Set down the curved bowl light blue shade and drop the dark inside bowl light blue outside on top.", + "the blue bowl goes at the bottom, the dark inside bowl light blue outside rests above.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with shiny texture over it.", + "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the small bowl with brown edge with the left arm.", + "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.", + "Position the bowl with shiny texture and stack the glazed bowl with curved sides securely onto it.", + "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl on top.", + "Stack the ceramic bowl carefully over the ceramic bowl.", + "With the right arm, lift the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base using the left arm.", + "Align the rounded bowl with light blue color over the medium-sized bowl for holding food, then complete the stack.", + "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl directly above.", + "Set the glazed bowl with curved sides over the rounded bowl with light blue color to create the stack.", + "Hold the blue bowl steady and slide the small bowl with brown edge on.", + "Put the curved bowl light blue shade first, then bring the curved bowl light blue shade to stack above." + ], + "unseen": [ + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode44.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..ae3de0325eb4e4679307a4236d295fda3935bc92 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position the bowl with shiny texture with the arm, then set the rounded bowl with light blue color above it.", + "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.", + "Place the small bowl with brown edge on the surface, then stack the ceramic bowl above it.", + "Grab the ceramic bowl, then stack the ceramic bowl with earthy brown trim on top.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl on top.", + "Take the blue bowl, align the ceramic bowl with earthy brown trim, and stack them.", + "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.", + "Place the glazed bowl with curved sides down, then set the bowl with brown outer rim on top of the glazed bowl with curved sides.", + "Align the blue bowl with slightly rounded base and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.", + "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.", + "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl.", + "Pick the blue bowl, position the blue bowl with slightly rounded base, and place it over the blue bowl.", + "Pick up the bowl with shiny texture and set the glazed bowl with curved sides on it.", + "Pick up the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the glazed bowl with curved sides.", + "Pick the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on it.", + "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.", + "Stack the bowl with brown outer rim carefully over the medium-sized bowl for holding food.", + "Take the small bowl with brown edge, position it, then stack the medium-sized bowl for holding food directly above.", + "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the ceramic bowl using the right arm.", + "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the bowl with brown outer rim using the right arm.", + "Lift the rounded bowl with light blue color and position it neatly over the blue bowl.", + "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.", + "Lift the blue bowl with slightly rounded base, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl with slightly rounded base.", + "Put the small bowl with brown edge first, then bring the dark inside bowl light blue outside to stack above.", + "Pick the bowl with brown outer rim, position on the table, and place the glazed bowl with curved sides over it.", + "With the left arm, lift the rounded bowl with light blue color and stack the glazed bowl with curved sides using the right arm.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.", + "Grab the small bowl with brown edge, set it down, then place the ceramic bowl over it.", + "Lift the rounded bowl with light blue color, lay it down, and stack the glazed bowl with curved sides on top.", + "Lift the small bowl with brown edge, put it on the table, and stack the bowl with brown outer rim above.", + "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.", + "Stack the small bowl with brown edge securely on top of the ceramic bowl with earthy brown trim.", + "Use the left arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the right arm.", + "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl on top.", + "the bowl with shiny texture goes at the bottom, the bowl with shiny texture rests above.", + "Align the ceramic bowl over the blue bowl with slightly rounded base, then complete the stack.", + "Lift the small bowl with brown edge, stack it precisely on top of the glazed bowl with curved sides.", + "Arrange the small bowl with brown edge, lift the ceramic bowl with the arm, and stack them.", + "Pick up the dark inside bowl light blue outside, place it down, then position the rounded bowl with light blue color on top.", + "Lift the bowl with brown outer rim, then stack it on the blue bowl with slightly rounded base.", + "Take the blue bowl, place the ceramic bowl above, and let go.", + "Hold the bowl with shiny texture and stack the medium-sized bowl for holding food neatly atop.", + "Set the blue bowl with slightly rounded base over the bowl with brown outer rim to create the stack.", + "Set the small bowl with brown edge down, then add the rounded bowl with light blue color over it.", + "Position the medium-sized bowl for holding food and stack the bowl with brown outer rim securely onto it.", + "Hold the ceramic bowl with earthy brown trim steady and slide the ceramic bowl with earthy brown trim on.", + "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.", + "Position the ceramic bowl carefully on the medium-sized bowl for holding food.", + "Grab the curved bowl light blue shade with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.", + "Position the bowl with shiny texture with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Place the ceramic bowl with earthy brown trim down and stack the glazed bowl with curved sides on top.", + "Place the small bowl with brown edge on the surface, then stack the medium-sized bowl for holding food above it.", + "Grab the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on top.", + "Use the arm to place the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.", + "Take the rounded bowl with light blue color, align the dark inside bowl light blue outside, and stack them.", + "Grab the dark inside bowl light blue outside, position it, and place the bowl with shiny texture on top.", + "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food on top of the small bowl with brown edge.", + "Align the curved bowl light blue shade and the bowl with shiny texture, then stack the bowl with shiny texture on the curved bowl light blue shade.", + "Grab the rounded bowl with light blue color, then carefully place the medium-sized bowl for holding food on top.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the rounded bowl with light blue color.", + "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.", + "Pick up the dark inside bowl light blue outside and set the medium-sized bowl for holding food on it.", + "Pick up the blue bowl with slightly rounded base, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl with slightly rounded base.", + "Pick the rounded bowl with light blue color, then stack the curved bowl light blue shade on it.", + "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base above it.", + "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.", + "Take the medium-sized bowl for holding food, position it, then stack the dark inside bowl light blue outside directly above.", + "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the ceramic bowl using the right arm.", + "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.", + "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl.", + "Set down the dark inside bowl light blue outside and drop the blue bowl with slightly rounded base on top.", + "Lift the rounded bowl with light blue color, grab the bowl with shiny texture, and set the bowl with shiny texture on the rounded bowl with light blue color.", + "Put the ceramic bowl first, then bring the dark inside bowl light blue outside to stack above.", + "Pick the dark inside bowl light blue outside, position on the table, and place the curved bowl light blue shade over it.", + "With the left arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the right arm.", + "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.", + "Lift the blue bowl, lay it down, and stack the dark inside bowl light blue outside on top.", + "Lift the rounded bowl with light blue color, put it on the table, and stack the curved bowl light blue shade above.", + "Position the ceramic bowl, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl.", + "Stack the ceramic bowl securely on top of the bowl with brown outer rim.", + "Use the left arm for the ceramic bowl, place it, and stack the glazed bowl with curved sides with the right arm.", + "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim on top.", + "the glazed bowl with curved sides goes at the bottom, the ceramic bowl rests above.", + "Align the ceramic bowl over the ceramic bowl with earthy brown trim, then complete the stack.", + "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl.", + "Arrange the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Pick up the bowl with shiny texture, place it down, then position the blue bowl on top.", + "Lift the bowl with brown outer rim, then stack it on the ceramic bowl with earthy brown trim.", + "Take the small bowl with brown edge, place the blue bowl with slightly rounded base above, and let go.", + "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.", + "Set the small bowl with brown edge over the blue bowl with slightly rounded base to create the stack.", + "Set the blue bowl with slightly rounded base down, then add the small bowl with brown edge over it.", + "Position the dark inside bowl light blue outside and stack the dark inside bowl light blue outside securely onto it.", + "Hold the curved bowl light blue shade steady and slide the medium-sized bowl for holding food on.", + "Lift the rounded bowl with light blue color, position the curved bowl light blue shade above it, and stack.", + "Position the curved bowl light blue shade carefully on the ceramic bowl with earthy brown trim.", + "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.", + "Position the rounded bowl with light blue color with the arm, then set the medium-sized bowl for holding food above it.", + "Place the small bowl with brown edge down and stack the blue bowl with slightly rounded base on top." + ], + "unseen": [ + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode45.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..5f40763bc4890b3386c02b0c32798650ae77123d --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, lift the bowl with brown outer rim and stack the glazed bowl with curved sides using the left arm.", + "Arrange the ceramic bowl with earthy brown trim, lift the bowl with shiny texture with the arm, and stack them.", + "Lift the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the medium-sized bowl for holding food.", + "Position the blue bowl with slightly rounded base, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl with slightly rounded base.", + "Place the ceramic bowl on the surface, then stack the bowl with brown outer rim above it.", + "Lift the bowl with brown outer rim, stack it precisely on top of the curved bowl light blue shade.", + "Grab the curved bowl light blue shade, set it down, then place the ceramic bowl over it.", + "Take the glazed bowl with curved sides, place the small bowl with brown edge above, and let go.", + "Lift the medium-sized bowl for holding food, position the bowl with shiny texture above it, and stack.", + "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside on top of the curved bowl light blue shade.", + "Grab the bowl with shiny texture, position it, and place the bowl with shiny texture on top.", + "Hold the rounded bowl with light blue color and stack the blue bowl with slightly rounded base neatly atop.", + "Pick up the ceramic bowl using the right arm, then stack the blue bowl using the left arm.", + "Lift the glazed bowl with curved sides, put it on the table, and stack the medium-sized bowl for holding food above.", + "Grab the ceramic bowl with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Hold the bowl with shiny texture steady and slide the small bowl with brown edge on.", + "Position the rounded bowl with light blue color and stack the bowl with brown outer rim securely onto it.", + "Set the ceramic bowl with earthy brown trim down, then add the curved bowl light blue shade over it.", + "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.", + "Position the blue bowl with slightly rounded base carefully on the blue bowl.", + "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.", + "Stack the small bowl with brown edge carefully over the blue bowl.", + "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the bowl with shiny texture using the left arm.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the curved bowl light blue shade.", + "Place the blue bowl down and stack the blue bowl with slightly rounded base on top.", + "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color above it.", + "Lift the bowl with shiny texture, lay it down, and stack the glazed bowl with curved sides on top.", + "Pick the ceramic bowl, then stack the small bowl with brown edge on it.", + "Position the blue bowl with the arm, then set the blue bowl above it.", + "Pick the small bowl with brown edge, position the rounded bowl with light blue color, and place it over the small bowl with brown edge.", + "Put the bowl with shiny texture first, then bring the rounded bowl with light blue color to stack above.", + "Align the blue bowl with slightly rounded base and the curved bowl light blue shade, then stack the curved bowl light blue shade on the blue bowl with slightly rounded base.", + "the dark inside bowl light blue outside goes at the bottom, the rounded bowl with light blue color rests above.", + "Lift the blue bowl and position it neatly over the bowl with brown outer rim.", + "Take the curved bowl light blue shade, place it, and stack the ceramic bowl on top.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl with slightly rounded base directly above.", + "Pick the bowl with brown outer rim, position on the table, and place the small bowl with brown edge over it.", + "Pick up the ceramic bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the ceramic bowl.", + "Grab the curved bowl light blue shade, then carefully place the curved bowl light blue shade on top.", + "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with shiny texture.", + "Take the rounded bowl with light blue color, align the rounded bowl with light blue color, and stack them.", + "Pick up the ceramic bowl, place it down, then position the ceramic bowl with earthy brown trim on top.", + "Pick up the rounded bowl with light blue color and set the curved bowl light blue shade on it.", + "Set the bowl with shiny texture over the bowl with shiny texture to create the stack.", + "Use the right arm for the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color with the left arm.", + "Align the dark inside bowl light blue outside over the bowl with shiny texture, then complete the stack.", + "Stack the curved bowl light blue shade securely on top of the medium-sized bowl for holding food.", + "Use the arm to place the bowl with brown outer rim, then stack the rounded bowl with light blue color on top.", + "Set down the glazed bowl with curved sides and drop the bowl with brown outer rim on top.", + "With the right arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the left arm.", + "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.", + "Lift the rounded bowl with light blue color, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the rounded bowl with light blue color.", + "Position the medium-sized bowl for holding food, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the medium-sized bowl for holding food.", + "Place the curved bowl light blue shade on the surface, then stack the bowl with brown outer rim above it.", + "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.", + "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl over it.", + "Take the bowl with brown outer rim, place the glazed bowl with curved sides above, and let go.", + "Lift the curved bowl light blue shade, position the small bowl with brown edge above it, and stack.", + "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.", + "Grab the glazed bowl with curved sides, position it, and place the bowl with brown outer rim on top.", + "Hold the blue bowl with slightly rounded base and stack the rounded bowl with light blue color neatly atop.", + "Pick up the small bowl with brown edge using the right arm, then stack the rounded bowl with light blue color using the left arm.", + "Lift the blue bowl, put it on the table, and stack the dark inside bowl light blue outside above.", + "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the small bowl with brown edge with the left arm.", + "Hold the blue bowl with slightly rounded base steady and slide the rounded bowl with light blue color on.", + "Position the bowl with shiny texture and stack the curved bowl light blue shade securely onto it.", + "Set the glazed bowl with curved sides down, then add the glazed bowl with curved sides over it.", + "Grab the dark inside bowl light blue outside, then stack the blue bowl on top.", + "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.", + "Grab the small bowl with brown edge, lift it up, position the blue bowl with slightly rounded base, and stack them.", + "Stack the bowl with shiny texture carefully over the blue bowl.", + "Lift the blue bowl using the right arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the glazed bowl with curved sides.", + "Place the blue bowl down and stack the medium-sized bowl for holding food on top.", + "Place the ceramic bowl down, then set the bowl with shiny texture above it.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.", + "Pick the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on it.", + "Position the ceramic bowl with the arm, then set the ceramic bowl above it.", + "Pick the rounded bowl with light blue color, position the rounded bowl with light blue color, and place it over the rounded bowl with light blue color.", + "Put the curved bowl light blue shade first, then bring the bowl with shiny texture to stack above.", + "Align the dark inside bowl light blue outside and the bowl with shiny texture, then stack the bowl with shiny texture on the dark inside bowl light blue outside.", + "the medium-sized bowl for holding food goes at the bottom, the curved bowl light blue shade rests above.", + "Lift the blue bowl and position it neatly over the small bowl with brown edge.", + "Take the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base on top.", + "Take the dark inside bowl light blue outside, position it, then stack the curved bowl light blue shade directly above.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the medium-sized bowl for holding food over it.", + "Pick up the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl with earthy brown trim.", + "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.", + "Lift the bowl with brown outer rim, then stack it on the rounded bowl with light blue color.", + "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.", + "Pick up the bowl with shiny texture, place it down, then position the bowl with shiny texture on top.", + "Pick up the small bowl with brown edge and set the ceramic bowl with earthy brown trim on it.", + "Set the bowl with shiny texture over the blue bowl to create the stack.", + "Use the right arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base with the left arm.", + "Align the medium-sized bowl for holding food over the blue bowl with slightly rounded base, then complete the stack.", + "Stack the bowl with shiny texture securely on top of the bowl with shiny texture.", + "Use the arm to place the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on top.", + "Set down the ceramic bowl and drop the bowl with shiny texture on top.", + "With the right arm, lift the curved bowl light blue shade and stack the ceramic bowl using the left arm.", + "Arrange the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color with the arm, and stack them." + ], + "unseen": [ + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode46.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..3621d7c3de3ef78db10e470e8242e0be7a5e1c9d --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Stack the dark inside bowl light blue outside securely on top of the bowl with shiny texture.", + "Set down the small bowl with brown edge and drop the blue bowl on top.", + "Lift the bowl with brown outer rim, put it on the table, and stack the medium-sized bowl for holding food above.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the glazed bowl with curved sides over it.", + "Pick the small bowl with brown edge, position on the table, and place the rounded bowl with light blue color over it.", + "Grab the blue bowl, then carefully place the ceramic bowl with earthy brown trim on top.", + "Use the arm to place the bowl with brown outer rim, then stack the blue bowl on top.", + "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.", + "Take the ceramic bowl, align the medium-sized bowl for holding food, and stack them.", + "Lift the blue bowl, then stack it on the blue bowl with slightly rounded base.", + "Grab the rounded bowl with light blue color, position it, and place the small bowl with brown edge on top.", + "Position the blue bowl with slightly rounded base with the arm, then set the small bowl with brown edge above it.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.", + "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.", + "Pick the medium-sized bowl for holding food, position the rounded bowl with light blue color, and place it over the medium-sized bowl for holding food.", + "Hold the bowl with brown outer rim steady and slide the glazed bowl with curved sides on.", + "the glazed bowl with curved sides goes at the bottom, the glazed bowl with curved sides rests above.", + "Stack the bowl with shiny texture carefully over the blue bowl.", + "Pick up the bowl with brown outer rim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.", + "Take the curved bowl light blue shade, position it, then stack the medium-sized bowl for holding food directly above.", + "Lift the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with shiny texture.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the bowl with brown outer rim on top.", + "Position the bowl with brown outer rim and stack the bowl with shiny texture securely onto it.", + "Pick the medium-sized bowl for holding food, then stack the curved bowl light blue shade on it.", + "Align the glazed bowl with curved sides over the dark inside bowl light blue outside, then complete the stack.", + "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.", + "Grab the glazed bowl with curved sides with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.", + "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.", + "Use the right arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the left arm.", + "Set the bowl with shiny texture down, then add the bowl with brown outer rim over it.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the curved bowl light blue shade, and stack them.", + "Take the ceramic bowl, place the ceramic bowl above, and let go.", + "Hold the blue bowl with slightly rounded base and stack the rounded bowl with light blue color neatly atop.", + "Put the blue bowl first, then bring the dark inside bowl light blue outside to stack above.", + "Pick up the blue bowl using the right arm, then stack the blue bowl with slightly rounded base using the left arm.", + "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.", + "Align the ceramic bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the dark inside bowl light blue outside above it.", + "With the right arm, lift the dark inside bowl light blue outside and stack the dark inside bowl light blue outside using the left arm.", + "Arrange the medium-sized bowl for holding food, lift the small bowl with brown edge with the arm, and stack them.", + "Place the bowl with shiny texture down, then set the glazed bowl with curved sides above it.", + "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.", + "Place the medium-sized bowl for holding food down, then set the glazed bowl with curved sides on top of the medium-sized bowl for holding food.", + "Grab the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.", + "Pick up the bowl with shiny texture, place it down, then position the small bowl with brown edge on top.", + "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.", + "Place the glazed bowl with curved sides down and stack the small bowl with brown edge on top.", + "Set the blue bowl over the dark inside bowl light blue outside to create the stack.", + "Lift the blue bowl, position the dark inside bowl light blue outside above it, and stack.", + "Stack the bowl with shiny texture securely on top of the bowl with brown outer rim.", + "Set down the curved bowl light blue shade and drop the rounded bowl with light blue color on top.", + "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl with earthy brown trim above.", + "Grab the blue bowl with slightly rounded base, set it down, then place the glazed bowl with curved sides over it.", + "Pick the curved bowl light blue shade, position on the table, and place the curved bowl light blue shade over it.", + "Grab the dark inside bowl light blue outside, then carefully place the curved bowl light blue shade on top.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl on top.", + "Take the small bowl with brown edge, place it, and stack the bowl with shiny texture on top.", + "Take the rounded bowl with light blue color, align the medium-sized bowl for holding food, and stack them.", + "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with brown outer rim.", + "Grab the dark inside bowl light blue outside, position it, and place the small bowl with brown edge on top.", + "Position the bowl with brown outer rim with the arm, then set the medium-sized bowl for holding food above it.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the small bowl with brown edge.", + "Position the curved bowl light blue shade, lift the small bowl with brown edge, and place the small bowl with brown edge on the curved bowl light blue shade.", + "Pick the curved bowl light blue shade, position the ceramic bowl, and place it over the curved bowl light blue shade.", + "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.", + "the blue bowl goes at the bottom, the rounded bowl with light blue color rests above.", + "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.", + "Pick up the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.", + "Take the curved bowl light blue shade, position it, then stack the ceramic bowl directly above.", + "Lift the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl with slightly rounded base.", + "Lift the blue bowl with slightly rounded base, lay it down, and stack the glazed bowl with curved sides on top.", + "Position the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim securely onto it.", + "Pick the rounded bowl with light blue color, then stack the curved bowl light blue shade on it.", + "Align the medium-sized bowl for holding food over the blue bowl, then complete the stack.", + "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.", + "Grab the blue bowl with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.", + "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl with earthy brown trim.", + "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade with the left arm.", + "Set the ceramic bowl with earthy brown trim down, then add the dark inside bowl light blue outside over it.", + "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.", + "Take the bowl with shiny texture, place the blue bowl above, and let go.", + "Hold the curved bowl light blue shade and stack the glazed bowl with curved sides neatly atop.", + "Put the medium-sized bowl for holding food first, then bring the dark inside bowl light blue outside to stack above.", + "Pick up the blue bowl using the right arm, then stack the blue bowl using the left arm.", + "Position the blue bowl carefully on the blue bowl.", + "Align the dark inside bowl light blue outside and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the dark inside bowl light blue outside.", + "Place the rounded bowl with light blue color on the surface, then stack the glazed bowl with curved sides above it.", + "With the right arm, lift the blue bowl with slightly rounded base and stack the rounded bowl with light blue color using the left arm.", + "Arrange the blue bowl with slightly rounded base, lift the rounded bowl with light blue color with the arm, and stack them.", + "Place the ceramic bowl down, then set the ceramic bowl above it.", + "Lift the small bowl with brown edge using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.", + "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.", + "Grab the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on top.", + "Pick up the bowl with brown outer rim, place it down, then position the glazed bowl with curved sides on top.", + "Pick up the bowl with shiny texture and set the blue bowl on it.", + "Place the ceramic bowl down and stack the small bowl with brown edge on top.", + "Set the ceramic bowl with earthy brown trim over the ceramic bowl to create the stack.", + "Lift the small bowl with brown edge, position the blue bowl above it, and stack.", + "Stack the bowl with shiny texture securely on top of the dark inside bowl light blue outside.", + "Set down the small bowl with brown edge and drop the curved bowl light blue shade on top." + ], + "unseen": [ + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode47.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..4964a3e4a165021b377526ba347cac1b3416b6a9 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the curved bowl light blue shade over the ceramic bowl with earthy brown trim to create the stack.", + "Pick the blue bowl, position on the table, and place the curved bowl light blue shade over it.", + "Set down the blue bowl with slightly rounded base and drop the small bowl with brown edge on top.", + "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it.", + "Hold the blue bowl and stack the blue bowl with slightly rounded base neatly atop.", + "Put the blue bowl with slightly rounded base first, then bring the bowl with shiny texture to stack above.", + "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade above it.", + "Lift the bowl with brown outer rim and position it neatly over the glazed bowl with curved sides.", + "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.", + "Grab the glazed bowl with curved sides with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.", + "Align the rounded bowl with light blue color and the bowl with brown outer rim, then stack the bowl with brown outer rim on the rounded bowl with light blue color.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the small bowl with brown edge.", + "the ceramic bowl with earthy brown trim goes at the bottom, the rounded bowl with light blue color rests above.", + "Grab the glazed bowl with curved sides, set it down, then place the glazed bowl with curved sides over it.", + "Take the curved bowl light blue shade, align the bowl with brown outer rim, and stack them.", + "Place the bowl with brown outer rim down and stack the dark inside bowl light blue outside on top.", + "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl with earthy brown trim on top.", + "With the left arm, lift the blue bowl with slightly rounded base and stack the blue bowl using the right arm.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the rounded bowl with light blue color.", + "Grab the curved bowl light blue shade, then carefully place the bowl with shiny texture on top.", + "Pick up the medium-sized bowl for holding food using the left arm, then stack the small bowl with brown edge using the right arm.", + "Pick the ceramic bowl, then stack the rounded bowl with light blue color on it.", + "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.", + "Stack the blue bowl with slightly rounded base carefully over the bowl with brown outer rim.", + "Lift the ceramic bowl, lay it down, and stack the bowl with shiny texture on top.", + "Align the medium-sized bowl for holding food over the glazed bowl with curved sides, then complete the stack.", + "Pick up the blue bowl with slightly rounded base and set the medium-sized bowl for holding food on it.", + "Position the medium-sized bowl for holding food with the arm, then set the small bowl with brown edge above it.", + "Grab the rounded bowl with light blue color, lift it up, position the curved bowl light blue shade, and stack them.", + "Stack the blue bowl with slightly rounded base securely on top of the dark inside bowl light blue outside.", + "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl above.", + "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.", + "Pick the curved bowl light blue shade, position the small bowl with brown edge, and place it over the curved bowl light blue shade.", + "Lift the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl with slightly rounded base.", + "Pick up the blue bowl, place it down, then position the rounded bowl with light blue color on top.", + "Lift the bowl with shiny texture, position the blue bowl above it, and stack.", + "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.", + "Position the ceramic bowl, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl.", + "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge with the right arm.", + "Take the blue bowl with slightly rounded base, place the rounded bowl with light blue color above, and let go.", + "Hold the medium-sized bowl for holding food steady and slide the medium-sized bowl for holding food on.", + "Position the bowl with brown outer rim carefully on the medium-sized bowl for holding food.", + "Pick up the rounded bowl with light blue color, grab the bowl with shiny texture, and stack the bowl with shiny texture on the rounded bowl with light blue color.", + "Set the ceramic bowl with earthy brown trim down, then add the glazed bowl with curved sides over it.", + "Grab the small bowl with brown edge, then stack the rounded bowl with light blue color on top.", + "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.", + "Lift the bowl with shiny texture, then stack it on the ceramic bowl.", + "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color on top of the curved bowl light blue shade.", + "Set the bowl with brown outer rim over the blue bowl with slightly rounded base to create the stack.", + "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.", + "Set down the ceramic bowl with earthy brown trim and drop the glazed bowl with curved sides on top.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the rounded bowl with light blue color above it.", + "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.", + "Put the blue bowl with slightly rounded base first, then bring the bowl with brown outer rim to stack above.", + "Place the curved bowl light blue shade down, then set the small bowl with brown edge above it.", + "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.", + "Take the ceramic bowl, position it, then stack the dark inside bowl light blue outside directly above.", + "Grab the bowl with brown outer rim with the left arm, place it, and stack the small bowl with brown edge with the right arm.", + "Use the arm to place the curved bowl light blue shade, then stack the curved bowl light blue shade on top.", + "Align the blue bowl and the curved bowl light blue shade, then stack the curved bowl light blue shade on the blue bowl.", + "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.", + "the bowl with brown outer rim goes at the bottom, the rounded bowl with light blue color rests above.", + "Grab the small bowl with brown edge, set it down, then place the blue bowl over it.", + "Take the dark inside bowl light blue outside, align the ceramic bowl, and stack them.", + "Place the curved bowl light blue shade down and stack the rounded bowl with light blue color on top.", + "Take the blue bowl with slightly rounded base, place it, and stack the medium-sized bowl for holding food on top.", + "With the left arm, lift the glazed bowl with curved sides and stack the medium-sized bowl for holding food using the right arm.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Grab the small bowl with brown edge, then carefully place the blue bowl on top.", + "Pick up the ceramic bowl using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.", + "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.", + "Grab the rounded bowl with light blue color, position it, and place the glazed bowl with curved sides on top.", + "Stack the bowl with brown outer rim carefully over the glazed bowl with curved sides.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.", + "Pick up the small bowl with brown edge and set the bowl with brown outer rim on it.", + "Position the dark inside bowl light blue outside with the arm, then set the small bowl with brown edge above it.", + "Grab the curved bowl light blue shade, lift it up, position the small bowl with brown edge, and stack them.", + "Stack the curved bowl light blue shade securely on top of the rounded bowl with light blue color.", + "Lift the bowl with brown outer rim, put it on the table, and stack the small bowl with brown edge above.", + "Position the bowl with brown outer rim and stack the blue bowl securely onto it.", + "Pick the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim, and place it over the blue bowl with slightly rounded base.", + "Lift the blue bowl with slightly rounded base, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl with slightly rounded base.", + "Pick up the glazed bowl with curved sides, place it down, then position the medium-sized bowl for holding food on top.", + "Lift the dark inside bowl light blue outside, position the ceramic bowl above it, and stack.", + "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.", + "Position the bowl with brown outer rim, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Use the left arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with earthy brown trim with the right arm.", + "Take the bowl with shiny texture, place the small bowl with brown edge above, and let go.", + "Hold the rounded bowl with light blue color steady and slide the curved bowl light blue shade on.", + "Position the blue bowl carefully on the dark inside bowl light blue outside.", + "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.", + "Set the small bowl with brown edge down, then add the curved bowl light blue shade over it.", + "Grab the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.", + "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim with the arm, and stack them.", + "Lift the bowl with brown outer rim, then stack it on the rounded bowl with light blue color.", + "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim on top of the blue bowl with slightly rounded base.", + "Set the bowl with shiny texture over the blue bowl to create the stack.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the curved bowl light blue shade over it." + ], + "unseen": [ + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode48.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..ebad3f94a213d97da6c074d7742f711c12b2d6dc --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the rounded bowl with light blue color, lift it up, position the blue bowl with slightly rounded base, and stack them.", + "Position the dark inside bowl light blue outside with the arm, then set the blue bowl above it.", + "Lift the ceramic bowl using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.", + "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.", + "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.", + "Position the medium-sized bowl for holding food carefully on the curved bowl light blue shade.", + "Pick up the blue bowl and set the curved bowl light blue shade on it.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl.", + "Lift the bowl with shiny texture, then stack it on the ceramic bowl.", + "Lift the bowl with brown outer rim, position the dark inside bowl light blue outside above it, and stack.", + "Stack the medium-sized bowl for holding food carefully over the bowl with shiny texture.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl on top.", + "Position the blue bowl with slightly rounded base and stack the small bowl with brown edge securely onto it.", + "Position the medium-sized bowl for holding food, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the medium-sized bowl for holding food.", + "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl with earthy brown trim above.", + "Align the dark inside bowl light blue outside over the bowl with shiny texture, then complete the stack.", + "With the left arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim using the right arm.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the glazed bowl with curved sides.", + "Take the ceramic bowl, position it, then stack the ceramic bowl directly above.", + "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.", + "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.", + "Use the left arm for the ceramic bowl, place it, and stack the ceramic bowl with the right arm.", + "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.", + "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.", + "Place the glazed bowl with curved sides on the surface, then stack the medium-sized bowl for holding food above it.", + "Pick the small bowl with brown edge, then stack the glazed bowl with curved sides on it.", + "Use the arm to place the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.", + "Grab the small bowl with brown edge, position it, and place the rounded bowl with light blue color on top.", + "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Take the dark inside bowl light blue outside, align the blue bowl with slightly rounded base, and stack them.", + "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.", + "Set the bowl with shiny texture over the ceramic bowl to create the stack.", + "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the small bowl with brown edge using the right arm.", + "Pick the medium-sized bowl for holding food, position the dark inside bowl light blue outside, and place it over the medium-sized bowl for holding food.", + "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Take the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture on top.", + "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.", + "Grab the curved bowl light blue shade, set it down, then place the dark inside bowl light blue outside over it.", + "Pick up the bowl with shiny texture, grab the small bowl with brown edge, and stack the small bowl with brown edge on the bowl with shiny texture.", + "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.", + "Grab the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on top.", + "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl on top.", + "Grab the bowl with brown outer rim with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.", + "Set down the curved bowl light blue shade and drop the bowl with shiny texture on top.", + "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside on top of the blue bowl with slightly rounded base.", + "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.", + "Lift the blue bowl with slightly rounded base, grab the blue bowl, and set the blue bowl on the blue bowl with slightly rounded base.", + "Hold the bowl with shiny texture and stack the ceramic bowl neatly atop.", + "Arrange the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Grab the blue bowl with slightly rounded base, lift it up, position the medium-sized bowl for holding food, and stack them.", + "Position the bowl with shiny texture with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Lift the blue bowl using the left arm, set it down, and stack the bowl with shiny texture using the right arm.", + "Put the glazed bowl with curved sides first, then bring the rounded bowl with light blue color to stack above.", + "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl.", + "Position the medium-sized bowl for holding food carefully on the bowl with brown outer rim.", + "Pick up the blue bowl with slightly rounded base and set the medium-sized bowl for holding food on it.", + "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with brown outer rim.", + "Lift the ceramic bowl, then stack it on the bowl with shiny texture.", + "Lift the glazed bowl with curved sides, position the dark inside bowl light blue outside above it, and stack.", + "Stack the ceramic bowl carefully over the rounded bowl with light blue color.", + "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.", + "Position the medium-sized bowl for holding food and stack the bowl with brown outer rim securely onto it.", + "Position the small bowl with brown edge, lift the blue bowl, and place the blue bowl on the small bowl with brown edge.", + "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl above.", + "Align the small bowl with brown edge over the ceramic bowl with earthy brown trim, then complete the stack.", + "With the left arm, lift the rounded bowl with light blue color and stack the glazed bowl with curved sides using the right arm.", + "Lift the ceramic bowl and position it neatly over the dark inside bowl light blue outside.", + "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.", + "Hold the blue bowl steady and slide the blue bowl with slightly rounded base on.", + "Take the glazed bowl with curved sides, place the dark inside bowl light blue outside above, and let go.", + "Use the left arm for the rounded bowl with light blue color, place it, and stack the dark inside bowl light blue outside with the right arm.", + "Grab the bowl with shiny texture, then carefully place the small bowl with brown edge on top.", + "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with shiny texture.", + "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.", + "Pick the curved bowl light blue shade, then stack the ceramic bowl on it.", + "Use the arm to place the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.", + "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl on top.", + "the blue bowl with slightly rounded base goes at the bottom, the glazed bowl with curved sides rests above.", + "Take the curved bowl light blue shade, align the medium-sized bowl for holding food, and stack them.", + "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl over it.", + "Set the small bowl with brown edge over the dark inside bowl light blue outside to create the stack.", + "Pick up the dark inside bowl light blue outside using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.", + "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.", + "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Take the bowl with shiny texture, place it, and stack the blue bowl with slightly rounded base on top.", + "Place the curved bowl light blue shade down and stack the ceramic bowl with earthy brown trim on top.", + "Grab the bowl with shiny texture, set it down, then place the curved bowl light blue shade over it.", + "Pick up the ceramic bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl.", + "Align the rounded bowl with light blue color and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the rounded bowl with light blue color.", + "Grab the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the medium-sized bowl for holding food on top.", + "Grab the small bowl with brown edge with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.", + "Set down the blue bowl and drop the ceramic bowl on top.", + "Place the bowl with brown outer rim down, then set the curved bowl light blue shade on top of the bowl with brown outer rim.", + "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.", + "Lift the ceramic bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl.", + "Hold the ceramic bowl and stack the bowl with brown outer rim neatly atop.", + "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.", + "Grab the ceramic bowl, lift it up, position the rounded bowl with light blue color, and stack them.", + "Position the glazed bowl with curved sides with the arm, then set the ceramic bowl above it." + ], + "unseen": [ + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode49.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..fdde84236479499bdcd4be4292fa2c715b013193 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.", + "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with the left arm.", + "Align the medium-sized bowl for holding food and the bowl with shiny texture, then stack the bowl with shiny texture on the medium-sized bowl for holding food.", + "Pick the rounded bowl with light blue color, position the ceramic bowl with earthy brown trim, and place it over the rounded bowl with light blue color.", + "Hold the medium-sized bowl for holding food and stack the bowl with shiny texture neatly atop.", + "Position the ceramic bowl and stack the curved bowl light blue shade securely onto it.", + "Lift the ceramic bowl using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.", + "Position the bowl with brown outer rim with the arm, then set the rounded bowl with light blue color above it.", + "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.", + "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl with earthy brown trim over it.", + "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the bowl with shiny texture using the left arm.", + "Use the arm to place the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.", + "Arrange the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides with the arm, and stack them.", + "Grab the curved bowl light blue shade, then carefully place the ceramic bowl with earthy brown trim on top.", + "Position the bowl with brown outer rim carefully on the bowl with shiny texture.", + "Take the ceramic bowl with earthy brown trim, place the small bowl with brown edge above, and let go.", + "Lift the dark inside bowl light blue outside, position the bowl with shiny texture above it, and stack.", + "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides above it.", + "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl on top.", + "Lift the blue bowl with slightly rounded base and position it neatly over the curved bowl light blue shade.", + "Place the blue bowl down and stack the rounded bowl with light blue color on top.", + "Lift the bowl with shiny texture, then stack it on the medium-sized bowl for holding food.", + "Set the glazed bowl with curved sides down, then add the blue bowl over it.", + "Hold the ceramic bowl steady and slide the bowl with shiny texture on.", + "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.", + "Set the ceramic bowl with earthy brown trim over the small bowl with brown edge to create the stack.", + "Set down the curved bowl light blue shade and drop the medium-sized bowl for holding food on top.", + "Grab the blue bowl with slightly rounded base, then stack the small bowl with brown edge on top.", + "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.", + "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.", + "Lift the ceramic bowl, put it on the table, and stack the curved bowl light blue shade above.", + "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl.", + "Grab the blue bowl with slightly rounded base, lift it up, position the blue bowl, and stack them.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the blue bowl with slightly rounded base on top.", + "the dark inside bowl light blue outside goes at the bottom, the bowl with shiny texture rests above.", + "Pick up the medium-sized bowl for holding food and set the dark inside bowl light blue outside on it.", + "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with brown outer rim on top.", + "Pick the blue bowl, then stack the medium-sized bowl for holding food on it.", + "Pick the small bowl with brown edge, position on the table, and place the dark inside bowl light blue outside over it.", + "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.", + "Put the small bowl with brown edge first, then bring the bowl with brown outer rim to stack above.", + "Align the blue bowl over the ceramic bowl with earthy brown trim, then complete the stack.", + "Lift the ceramic bowl, grab the blue bowl, and set the blue bowl on the ceramic bowl.", + "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.", + "Place the small bowl with brown edge on the surface, then stack the ceramic bowl above it.", + "Grab the bowl with shiny texture with the left arm, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Stack the small bowl with brown edge securely on top of the blue bowl.", + "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl.", + "With the left arm, lift the glazed bowl with curved sides and stack the bowl with shiny texture using the left arm.", + "Position the rounded bowl with light blue color, lift the bowl with shiny texture, and place the bowl with shiny texture on the rounded bowl with light blue color.", + "Use the left arm for the glazed bowl with curved sides, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Align the dark inside bowl light blue outside and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the dark inside bowl light blue outside.", + "Pick the small bowl with brown edge, position the ceramic bowl, and place it over the small bowl with brown edge.", + "Hold the small bowl with brown edge and stack the glazed bowl with curved sides neatly atop.", + "Position the ceramic bowl and stack the dark inside bowl light blue outside securely onto it.", + "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm.", + "Position the glazed bowl with curved sides with the arm, then set the ceramic bowl above it.", + "Take the rounded bowl with light blue color, align the ceramic bowl, and stack them.", + "Grab the medium-sized bowl for holding food, set it down, then place the bowl with brown outer rim over it.", + "Pick up the small bowl with brown edge using the left arm, then stack the ceramic bowl using the left arm.", + "Use the arm to place the bowl with shiny texture, then stack the blue bowl on top.", + "Arrange the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim with the arm, and stack them.", + "Grab the ceramic bowl, then carefully place the bowl with shiny texture on top.", + "Position the rounded bowl with light blue color carefully on the bowl with brown outer rim.", + "Take the dark inside bowl light blue outside, place the dark inside bowl light blue outside above, and let go.", + "Lift the ceramic bowl, position the bowl with shiny texture above it, and stack.", + "Place the medium-sized bowl for holding food down, then set the bowl with brown outer rim above it.", + "Take the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade on top.", + "Lift the curved bowl light blue shade and position it neatly over the rounded bowl with light blue color.", + "Place the small bowl with brown edge down and stack the bowl with shiny texture on top.", + "Lift the dark inside bowl light blue outside, then stack it on the glazed bowl with curved sides.", + "Set the ceramic bowl with earthy brown trim down, then add the glazed bowl with curved sides over it.", + "Hold the medium-sized bowl for holding food steady and slide the rounded bowl with light blue color on.", + "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base on top of the bowl with shiny texture.", + "Set the curved bowl light blue shade over the curved bowl light blue shade to create the stack.", + "Set down the blue bowl and drop the bowl with shiny texture on top.", + "Grab the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.", + "Take the blue bowl with slightly rounded base, position it, then stack the bowl with brown outer rim directly above.", + "Pick up the small bowl with brown edge, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the small bowl with brown edge.", + "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl above.", + "Lift the small bowl with brown edge, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Grab the ceramic bowl, lift it up, position the ceramic bowl, and stack them.", + "Lift the ceramic bowl, lay it down, and stack the rounded bowl with light blue color on top.", + "the dark inside bowl light blue outside goes at the bottom, the bowl with shiny texture rests above.", + "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl on top.", + "Pick the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on it.", + "Pick the bowl with shiny texture, position on the table, and place the dark inside bowl light blue outside over it.", + "Stack the curved bowl light blue shade carefully over the blue bowl with slightly rounded base.", + "Put the ceramic bowl first, then bring the medium-sized bowl for holding food to stack above.", + "Align the bowl with shiny texture over the bowl with shiny texture, then complete the stack.", + "Lift the medium-sized bowl for holding food, grab the small bowl with brown edge, and set the small bowl with brown edge on the medium-sized bowl for holding food.", + "Grab the blue bowl, position it, and place the ceramic bowl on top.", + "Place the medium-sized bowl for holding food on the surface, then stack the small bowl with brown edge above it.", + "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the bowl with brown outer rim with the left arm.", + "Stack the dark inside bowl light blue outside securely on top of the bowl with shiny texture.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl using the left arm.", + "Position the glazed bowl with curved sides, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the glazed bowl with curved sides.", + "Use the left arm for the rounded bowl with light blue color, place it, and stack the curved bowl light blue shade with the left arm." + ], + "unseen": [ + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode5.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..c4f7d23593ad6ab8aa9950c67ec0c0d5be9c2559 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the blue bowl, position the dark inside bowl light blue outside, and place it over the blue bowl.", + "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Position the dark inside bowl light blue outside with the arm, then set the medium-sized bowl for holding food above it.", + "Grab the blue bowl, then stack the small bowl with brown edge on top.", + "Use the right arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the left arm.", + "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.", + "Lift the curved bowl light blue shade, lay it down, and stack the curved bowl light blue shade on top.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the ceramic bowl with earthy brown trim over it.", + "Pick up the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the medium-sized bowl for holding food.", + "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl with earthy brown trim.", + "Grab the dark inside bowl light blue outside, lift it up, position the rounded bowl with light blue color, and stack them.", + "Lift the curved bowl light blue shade, stack it precisely on top of the curved bowl light blue shade.", + "Lift the small bowl with brown edge, position the small bowl with brown edge above it, and stack.", + "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl with earthy brown trim.", + "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.", + "Stack the bowl with shiny texture carefully over the small bowl with brown edge.", + "With the right arm, lift the medium-sized bowl for holding food and stack the small bowl with brown edge using the left arm.", + "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base above it.", + "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl.", + "Hold the blue bowl and stack the glazed bowl with curved sides neatly atop.", + "Take the dark inside bowl light blue outside, align the small bowl with brown edge, and stack them.", + "Position the blue bowl carefully on the dark inside bowl light blue outside.", + "Position the dark inside bowl light blue outside, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.", + "Align the small bowl with brown edge and the small bowl with brown edge, then stack the small bowl with brown edge on the small bowl with brown edge.", + "Position the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim securely onto it.", + "Take the ceramic bowl, position it, then stack the rounded bowl with light blue color directly above.", + "Align the bowl with shiny texture over the ceramic bowl with earthy brown trim, then complete the stack.", + "Hold the blue bowl with slightly rounded base steady and slide the bowl with brown outer rim on.", + "Place the curved bowl light blue shade down and stack the rounded bowl with light blue color on top.", + "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl on top.", + "Grab the curved bowl light blue shade, set it down, then place the bowl with shiny texture over it.", + "Put the glazed bowl with curved sides first, then bring the blue bowl to stack above.", + "Lift the medium-sized bowl for holding food, then stack it on the blue bowl.", + "the blue bowl with slightly rounded base goes at the bottom, the medium-sized bowl for holding food rests above.", + "Arrange the blue bowl with slightly rounded base, lift the blue bowl with the arm, and stack them.", + "Lift the bowl with shiny texture, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with shiny texture.", + "Set the blue bowl with slightly rounded base over the blue bowl with slightly rounded base to create the stack.", + "Place the blue bowl down, then set the blue bowl on top of the blue bowl.", + "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the blue bowl with the left arm.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with shiny texture on top.", + "Set the bowl with shiny texture down, then add the ceramic bowl with earthy brown trim over it.", + "Set down the rounded bowl with light blue color and drop the rounded bowl with light blue color on top.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the curved bowl light blue shade on top.", + "Lift the curved bowl light blue shade, put it on the table, and stack the rounded bowl with light blue color above.", + "Take the bowl with shiny texture, place the dark inside bowl light blue outside above, and let go.", + "Lift the small bowl with brown edge using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.", + "Pick the glazed bowl with curved sides, then stack the curved bowl light blue shade on it.", + "Pick up the blue bowl using the right arm, then stack the bowl with brown outer rim using the left arm.", + "Use the arm to place the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.", + "Pick the bowl with brown outer rim, position the dark inside bowl light blue outside, and place it over the bowl with brown outer rim.", + "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Position the rounded bowl with light blue color with the arm, then set the blue bowl above it.", + "Grab the curved bowl light blue shade, then stack the bowl with shiny texture on top.", + "Use the right arm for the dark inside bowl light blue outside, place it, and stack the curved bowl light blue shade with the left arm.", + "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl above it.", + "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Pick the rounded bowl with light blue color, position on the table, and place the bowl with shiny texture over it.", + "Pick up the small bowl with brown edge, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the small bowl with brown edge.", + "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the curved bowl light blue shade.", + "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.", + "Lift the glazed bowl with curved sides, stack it precisely on top of the dark inside bowl light blue outside.", + "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.", + "Stack the small bowl with brown edge securely on top of the glazed bowl with curved sides.", + "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.", + "Stack the dark inside bowl light blue outside carefully over the ceramic bowl with earthy brown trim.", + "With the right arm, lift the dark inside bowl light blue outside and stack the glazed bowl with curved sides using the left arm.", + "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade above it.", + "Lift the blue bowl and position it neatly over the ceramic bowl.", + "Hold the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim neatly atop.", + "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.", + "Position the glazed bowl with curved sides carefully on the bowl with shiny texture.", + "Position the rounded bowl with light blue color, lift the ceramic bowl, and place the ceramic bowl on the rounded bowl with light blue color.", + "Align the glazed bowl with curved sides and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the glazed bowl with curved sides.", + "Position the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside securely onto it.", + "Take the blue bowl with slightly rounded base, position it, then stack the small bowl with brown edge directly above.", + "Align the curved bowl light blue shade over the curved bowl light blue shade, then complete the stack.", + "Hold the dark inside bowl light blue outside steady and slide the small bowl with brown edge on.", + "Place the glazed bowl with curved sides down and stack the blue bowl with slightly rounded base on top.", + "Grab the glazed bowl with curved sides, then carefully place the bowl with shiny texture on top.", + "Grab the bowl with shiny texture, set it down, then place the bowl with shiny texture over it.", + "Put the ceramic bowl with earthy brown trim first, then bring the ceramic bowl to stack above.", + "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl with earthy brown trim.", + "the small bowl with brown edge goes at the bottom, the small bowl with brown edge rests above.", + "Arrange the small bowl with brown edge, lift the bowl with shiny texture with the arm, and stack them.", + "Lift the ceramic bowl with earthy brown trim, grab the blue bowl, and set the blue bowl on the ceramic bowl with earthy brown trim.", + "Set the rounded bowl with light blue color over the glazed bowl with curved sides to create the stack.", + "Place the ceramic bowl down, then set the bowl with brown outer rim on top of the ceramic bowl.", + "Grab the bowl with shiny texture with the right arm, place it, and stack the bowl with shiny texture with the left arm.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl on top.", + "Set the ceramic bowl down, then add the medium-sized bowl for holding food over it.", + "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.", + "Grab the ceramic bowl with earthy brown trim, position it, and place the small bowl with brown edge on top.", + "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.", + "Take the bowl with brown outer rim, place the ceramic bowl with earthy brown trim above, and let go.", + "Lift the ceramic bowl using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.", + "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.", + "Pick up the bowl with shiny texture using the right arm, then stack the dark inside bowl light blue outside using the left arm.", + "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl on top.", + "Pick the rounded bowl with light blue color, position the ceramic bowl with earthy brown trim, and place it over the rounded bowl with light blue color.", + "Take the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base on top." + ], + "unseen": [ + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode6.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..3148153d07ad3ec9b92d97bb63ef408a6ad5712d --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position the ceramic bowl with earthy brown trim and stack the small bowl with brown edge securely onto it.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the rounded bowl with light blue color.", + "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.", + "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.", + "Lift the dark inside bowl light blue outside, then stack it on the curved bowl light blue shade.", + "Grab the blue bowl with slightly rounded base, lift it up, position the blue bowl, and stack them.", + "Align the bowl with brown outer rim and the blue bowl, then stack the blue bowl on the bowl with brown outer rim.", + "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.", + "With the right arm, lift the dark inside bowl light blue outside and stack the medium-sized bowl for holding food using the left arm.", + "Take the blue bowl, position it, then stack the blue bowl directly above.", + "Put the bowl with brown outer rim first, then bring the curved bowl light blue shade to stack above.", + "Align the glazed bowl with curved sides over the bowl with brown outer rim, then complete the stack.", + "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base above it.", + "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl over it.", + "Hold the rounded bowl with light blue color steady and slide the blue bowl on.", + "Position the ceramic bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl.", + "Take the rounded bowl with light blue color, place the ceramic bowl above, and let go.", + "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.", + "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.", + "Grab the medium-sized bowl for holding food, position it, and place the curved bowl light blue shade on top.", + "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.", + "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with brown outer rim above it.", + "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.", + "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.", + "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.", + "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.", + "Pick up the ceramic bowl using the right arm, then stack the glazed bowl with curved sides using the left arm.", + "Pick the medium-sized bowl for holding food, position the bowl with brown outer rim, and place it over the medium-sized bowl for holding food.", + "Lift the bowl with brown outer rim and position it neatly over the ceramic bowl.", + "Use the right arm for the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade with the left arm.", + "Position the bowl with shiny texture carefully on the blue bowl with slightly rounded base.", + "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.", + "Place the bowl with brown outer rim down and stack the rounded bowl with light blue color on top.", + "Take the blue bowl with slightly rounded base, place it, and stack the bowl with shiny texture on top.", + "Pick up the blue bowl and set the blue bowl on it.", + "the bowl with shiny texture goes at the bottom, the curved bowl light blue shade rests above.", + "Lift the glazed bowl with curved sides, grab the bowl with shiny texture, and set the bowl with shiny texture on the glazed bowl with curved sides.", + "Arrange the curved bowl light blue shade, lift the ceramic bowl with the arm, and stack them.", + "Take the medium-sized bowl for holding food, align the glazed bowl with curved sides, and stack them.", + "Lift the glazed bowl with curved sides, position the bowl with shiny texture above it, and stack.", + "Set the bowl with shiny texture down, then add the blue bowl with slightly rounded base over it.", + "Lift the medium-sized bowl for holding food, stack it precisely on top of the medium-sized bowl for holding food.", + "Set the curved bowl light blue shade over the ceramic bowl to create the stack.", + "Grab the bowl with brown outer rim, then stack the bowl with shiny texture on top.", + "Stack the dark inside bowl light blue outside carefully over the rounded bowl with light blue color.", + "Hold the curved bowl light blue shade and stack the small bowl with brown edge neatly atop.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl with earthy brown trim above it.", + "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl with earthy brown trim on top.", + "Pick the small bowl with brown edge, then stack the ceramic bowl on it.", + "Position the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color securely onto it.", + "Grasp the small bowl with brown edge, then use the arm to align and stack the medium-sized bowl for holding food.", + "Use the arm to place the rounded bowl with light blue color, then stack the bowl with shiny texture on top.", + "Pick up the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.", + "Lift the bowl with brown outer rim, then stack it on the medium-sized bowl for holding food.", + "Grab the small bowl with brown edge, lift it up, position the small bowl with brown edge, and stack them.", + "Align the ceramic bowl with earthy brown trim and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl with earthy brown trim.", + "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl above.", + "With the right arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the left arm.", + "Take the blue bowl, position it, then stack the bowl with shiny texture directly above.", + "Put the small bowl with brown edge first, then bring the curved bowl light blue shade to stack above.", + "Align the small bowl with brown edge over the blue bowl with slightly rounded base, then complete the stack.", + "Place the dark inside bowl light blue outside down, then set the glazed bowl with curved sides above it.", + "Grab the small bowl with brown edge, set it down, then place the glazed bowl with curved sides over it.", + "Hold the curved bowl light blue shade steady and slide the bowl with brown outer rim on.", + "Position the rounded bowl with light blue color, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the rounded bowl with light blue color.", + "Take the small bowl with brown edge, place the bowl with brown outer rim above, and let go.", + "Set down the curved bowl light blue shade and drop the blue bowl on top.", + "Place the medium-sized bowl for holding food down, then set the bowl with brown outer rim on top of the medium-sized bowl for holding food.", + "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.", + "Pick the rounded bowl with light blue color, position on the table, and place the dark inside bowl light blue outside over it.", + "Place the bowl with brown outer rim on the surface, then stack the glazed bowl with curved sides above it.", + "Stack the dark inside bowl light blue outside securely on top of the bowl with shiny texture.", + "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl on top.", + "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.", + "Grab the glazed bowl with curved sides with the right arm, place it, and stack the blue bowl with the left arm.", + "Pick up the bowl with brown outer rim using the right arm, then stack the dark inside bowl light blue outside using the left arm.", + "Pick the medium-sized bowl for holding food, position the bowl with brown outer rim, and place it over the medium-sized bowl for holding food.", + "Lift the medium-sized bowl for holding food and position it neatly over the dark inside bowl light blue outside.", + "Use the right arm for the blue bowl, place it, and stack the blue bowl with the left arm.", + "Position the curved bowl light blue shade carefully on the glazed bowl with curved sides.", + "Lift the curved bowl light blue shade using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.", + "Place the bowl with shiny texture down and stack the dark inside bowl light blue outside on top.", + "Take the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim on top.", + "Pick up the blue bowl with slightly rounded base and set the ceramic bowl on it.", + "the small bowl with brown edge goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Lift the bowl with shiny texture, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with shiny texture.", + "Arrange the blue bowl with slightly rounded base, lift the glazed bowl with curved sides with the arm, and stack them.", + "Take the blue bowl with slightly rounded base, align the curved bowl light blue shade, and stack them.", + "Lift the rounded bowl with light blue color, position the dark inside bowl light blue outside above it, and stack.", + "Set the dark inside bowl light blue outside down, then add the bowl with shiny texture over it.", + "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl with slightly rounded base.", + "Set the blue bowl with slightly rounded base over the medium-sized bowl for holding food to create the stack.", + "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.", + "Stack the curved bowl light blue shade carefully over the blue bowl with slightly rounded base.", + "Hold the blue bowl and stack the bowl with brown outer rim neatly atop.", + "Position the bowl with shiny texture with the arm, then set the bowl with brown outer rim above it.", + "Lift the small bowl with brown edge, lay it down, and stack the glazed bowl with curved sides on top.", + "Pick the ceramic bowl, then stack the small bowl with brown edge on it.", + "Position the blue bowl and stack the rounded bowl with light blue color securely onto it.", + "Grasp the blue bowl, then use the arm to align and stack the glazed bowl with curved sides." + ], + "unseen": [ + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode7.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..f986d2e114d2b5d8d1f800478e7b1ec2e2a39282 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the dark inside bowl light blue outside, position the curved bowl light blue shade, and place it over the dark inside bowl light blue outside.", + "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.", + "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the blue bowl using the left arm.", + "Pick up the medium-sized bowl for holding food using the left arm, then stack the blue bowl using the left arm.", + "Take the blue bowl, place the rounded bowl with light blue color above, and let go.", + "Use the arm to place the curved bowl light blue shade, then stack the curved bowl light blue shade on top.", + "Grab the bowl with brown outer rim, lift it up, position the curved bowl light blue shade, and stack them.", + "Pick the blue bowl, then stack the small bowl with brown edge on it.", + "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the blue bowl with slightly rounded base with the left arm.", + "Hold the bowl with brown outer rim steady and slide the bowl with brown outer rim on.", + "Grab the glazed bowl with curved sides, position it, and place the bowl with brown outer rim on top.", + "Stack the bowl with brown outer rim securely on top of the bowl with shiny texture.", + "Lift the ceramic bowl, lay it down, and stack the dark inside bowl light blue outside on top.", + "Take the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim on top.", + "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with shiny texture above.", + "Lift the ceramic bowl with earthy brown trim, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl with earthy brown trim.", + "Align the rounded bowl with light blue color over the ceramic bowl with earthy brown trim, then complete the stack.", + "Grab the blue bowl, then carefully place the curved bowl light blue shade on top.", + "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl with slightly rounded base.", + "Take the bowl with brown outer rim, align the small bowl with brown edge, and stack them.", + "Stack the bowl with brown outer rim carefully over the curved bowl light blue shade.", + "Lift the glazed bowl with curved sides and position it neatly over the dark inside bowl light blue outside.", + "the bowl with brown outer rim goes at the bottom, the glazed bowl with curved sides rests above.", + "Grab the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.", + "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.", + "Take the ceramic bowl with earthy brown trim, position it, then stack the glazed bowl with curved sides directly above.", + "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim with the left arm.", + "With the left arm, lift the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim using the left arm.", + "Pick up the bowl with shiny texture and set the bowl with brown outer rim on it.", + "Place the bowl with shiny texture on the surface, then stack the glazed bowl with curved sides above it.", + "Set the ceramic bowl with earthy brown trim down, then add the rounded bowl with light blue color over it.", + "Pick up the ceramic bowl, place it down, then position the rounded bowl with light blue color on top.", + "Position the rounded bowl with light blue color carefully on the bowl with brown outer rim.", + "Put the rounded bowl with light blue color first, then bring the dark inside bowl light blue outside to stack above.", + "Place the bowl with shiny texture down, then set the rounded bowl with light blue color on top of the bowl with shiny texture.", + "Pick up the rounded bowl with light blue color, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the rounded bowl with light blue color.", + "Position the glazed bowl with curved sides, lift the blue bowl, and place the blue bowl on the glazed bowl with curved sides.", + "Position the bowl with brown outer rim with the arm, then set the dark inside bowl light blue outside above it.", + "Align the ceramic bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl.", + "Set the blue bowl with slightly rounded base over the ceramic bowl to create the stack.", + "Place the small bowl with brown edge down and stack the ceramic bowl with earthy brown trim on top.", + "Place the ceramic bowl with earthy brown trim down, then set the blue bowl above it.", + "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.", + "Hold the small bowl with brown edge and stack the medium-sized bowl for holding food neatly atop.", + "Grab the ceramic bowl, set it down, then place the bowl with brown outer rim over it.", + "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with shiny texture.", + "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.", + "Set down the medium-sized bowl for holding food and drop the bowl with brown outer rim on top.", + "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.", + "Pick the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim, and place it over the blue bowl with slightly rounded base.", + "Pick the bowl with shiny texture, position on the table, and place the blue bowl over it.", + "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Pick up the dark inside bowl light blue outside using the left arm, then stack the medium-sized bowl for holding food using the left arm.", + "Take the rounded bowl with light blue color, place the small bowl with brown edge above, and let go.", + "Use the arm to place the bowl with shiny texture, then stack the curved bowl light blue shade on top.", + "Grab the bowl with shiny texture, lift it up, position the dark inside bowl light blue outside, and stack them.", + "Pick the bowl with brown outer rim, then stack the blue bowl on it.", + "Grab the curved bowl light blue shade with the left arm, place it, and stack the dark inside bowl light blue outside with the left arm.", + "Hold the blue bowl with slightly rounded base steady and slide the blue bowl with slightly rounded base on.", + "Grab the dark inside bowl light blue outside, position it, and place the rounded bowl with light blue color on top.", + "Stack the blue bowl securely on top of the small bowl with brown edge.", + "Lift the small bowl with brown edge, lay it down, and stack the glazed bowl with curved sides on top.", + "Take the curved bowl light blue shade, place it, and stack the medium-sized bowl for holding food on top.", + "Lift the blue bowl with slightly rounded base, put it on the table, and stack the curved bowl light blue shade above.", + "Lift the ceramic bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl.", + "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.", + "Grab the glazed bowl with curved sides, then carefully place the dark inside bowl light blue outside on top.", + "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl.", + "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.", + "Stack the glazed bowl with curved sides carefully over the ceramic bowl with earthy brown trim.", + "Lift the bowl with brown outer rim and position it neatly over the curved bowl light blue shade.", + "the curved bowl light blue shade goes at the bottom, the blue bowl rests above.", + "Grab the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.", + "Lift the blue bowl, then stack it on the bowl with brown outer rim.", + "Take the ceramic bowl, position it, then stack the blue bowl directly above.", + "Use the left arm for the ceramic bowl, place it, and stack the rounded bowl with light blue color with the left arm.", + "With the left arm, lift the curved bowl light blue shade and stack the small bowl with brown edge using the left arm.", + "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.", + "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl above it.", + "Set the curved bowl light blue shade down, then add the rounded bowl with light blue color over it.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the rounded bowl with light blue color on top.", + "Position the small bowl with brown edge carefully on the blue bowl.", + "Put the bowl with brown outer rim first, then bring the ceramic bowl to stack above.", + "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside on top of the ceramic bowl with earthy brown trim.", + "Pick up the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the curved bowl light blue shade.", + "Position the rounded bowl with light blue color, lift the small bowl with brown edge, and place the small bowl with brown edge on the rounded bowl with light blue color.", + "Position the dark inside bowl light blue outside with the arm, then set the bowl with brown outer rim above it.", + "Align the dark inside bowl light blue outside and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.", + "Set the dark inside bowl light blue outside over the ceramic bowl to create the stack.", + "Place the ceramic bowl with earthy brown trim down and stack the glazed bowl with curved sides on top.", + "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base above it.", + "Position the small bowl with brown edge and stack the dark inside bowl light blue outside securely onto it.", + "Hold the medium-sized bowl for holding food and stack the ceramic bowl neatly atop.", + "Grab the blue bowl with slightly rounded base, set it down, then place the medium-sized bowl for holding food over it.", + "Lift the blue bowl with slightly rounded base, stack it precisely on top of the dark inside bowl light blue outside.", + "Arrange the glazed bowl with curved sides, lift the rounded bowl with light blue color with the arm, and stack them.", + "Set down the small bowl with brown edge and drop the medium-sized bowl for holding food on top.", + "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack.", + "Pick the ceramic bowl with earthy brown trim, position the bowl with brown outer rim, and place it over the ceramic bowl with earthy brown trim.", + "Pick the small bowl with brown edge, position on the table, and place the blue bowl with slightly rounded base over it." + ], + "unseen": [ + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode8.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..2e4e2998da79f499cd1e2c44ff01d05bfd0fbbd4 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the ceramic bowl, lift it up, position the glazed bowl with curved sides, and stack them.", + "Hold the rounded bowl with light blue color steady and slide the medium-sized bowl for holding food on.", + "the ceramic bowl with earthy brown trim goes at the bottom, the rounded bowl with light blue color rests above.", + "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.", + "Pick up the dark inside bowl light blue outside using the left arm, then stack the small bowl with brown edge using the right arm.", + "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the blue bowl using the right arm.", + "Place the bowl with brown outer rim down and stack the bowl with shiny texture on top.", + "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl with slightly rounded base over it.", + "Stack the blue bowl with slightly rounded base securely on top of the ceramic bowl.", + "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim on top of the rounded bowl with light blue color.", + "Grab the blue bowl, position it, and place the rounded bowl with light blue color on top.", + "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.", + "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.", + "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.", + "Place the blue bowl on the surface, then stack the rounded bowl with light blue color above it.", + "Align the rounded bowl with light blue color and the bowl with brown outer rim, then stack the bowl with brown outer rim on the rounded bowl with light blue color.", + "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the small bowl with brown edge.", + "Set the blue bowl with slightly rounded base over the ceramic bowl to create the stack.", + "Place the blue bowl down, then set the small bowl with brown edge above it.", + "Lift the blue bowl, put it on the table, and stack the blue bowl with slightly rounded base above.", + "Grab the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.", + "Pick up the small bowl with brown edge, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the small bowl with brown edge.", + "Take the blue bowl with slightly rounded base, align the bowl with brown outer rim, and stack them.", + "Align the blue bowl with slightly rounded base over the glazed bowl with curved sides, then complete the stack.", + "Position the medium-sized bowl for holding food carefully on the dark inside bowl light blue outside.", + "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.", + "Stack the curved bowl light blue shade carefully over the small bowl with brown edge.", + "Lift the bowl with shiny texture and position it neatly over the blue bowl.", + "Pick the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food, and place it over the ceramic bowl with earthy brown trim.", + "Position the ceramic bowl, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl.", + "Set the rounded bowl with light blue color down, then add the blue bowl over it.", + "Hold the rounded bowl with light blue color and stack the rounded bowl with light blue color neatly atop.", + "Set down the ceramic bowl with earthy brown trim and drop the small bowl with brown edge on top.", + "Take the glazed bowl with curved sides, position it, then stack the medium-sized bowl for holding food directly above.", + "Pick up the bowl with shiny texture and set the glazed bowl with curved sides on it.", + "Position the bowl with shiny texture with the arm, then set the glazed bowl with curved sides above it.", + "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.", + "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the bowl with brown outer rim with the right arm.", + "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl over it.", + "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with the right arm.", + "Pick the bowl with shiny texture, then stack the blue bowl on it.", + "Lift the bowl with brown outer rim, position the small bowl with brown edge above it, and stack.", + "With the left arm, lift the blue bowl and stack the ceramic bowl with earthy brown trim using the right arm.", + "Pick up the small bowl with brown edge, place it down, then position the blue bowl with slightly rounded base on top.", + "Grab the blue bowl, then carefully place the ceramic bowl on top.", + "Use the arm to place the glazed bowl with curved sides, then stack the small bowl with brown edge on top.", + "Arrange the blue bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.", + "Take the small bowl with brown edge, place it, and stack the blue bowl on top.", + "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.", + "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with shiny texture, and stack them.", + "Hold the ceramic bowl steady and slide the glazed bowl with curved sides on.", + "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above.", + "Lift the small bowl with brown edge, then stack it on the blue bowl with slightly rounded base.", + "Pick up the dark inside bowl light blue outside using the left arm, then stack the blue bowl with slightly rounded base using the right arm.", + "Lift the blue bowl using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.", + "Place the glazed bowl with curved sides down and stack the glazed bowl with curved sides on top.", + "Pick the dark inside bowl light blue outside, position on the table, and place the rounded bowl with light blue color over it.", + "Stack the rounded bowl with light blue color securely on top of the small bowl with brown edge.", + "Place the ceramic bowl down, then set the blue bowl on top of the ceramic bowl.", + "Grab the glazed bowl with curved sides, position it, and place the rounded bowl with light blue color on top.", + "Lift the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the medium-sized bowl for holding food.", + "Take the blue bowl with slightly rounded base, place the blue bowl above, and let go.", + "Lift the glazed bowl with curved sides, lay it down, and stack the medium-sized bowl for holding food on top.", + "Place the ceramic bowl on the surface, then stack the ceramic bowl with earthy brown trim above it.", + "Align the medium-sized bowl for holding food and the bowl with shiny texture, then stack the bowl with shiny texture on the medium-sized bowl for holding food.", + "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the medium-sized bowl for holding food.", + "Set the curved bowl light blue shade over the blue bowl to create the stack.", + "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.", + "Lift the bowl with brown outer rim, put it on the table, and stack the bowl with brown outer rim above.", + "Grab the small bowl with brown edge, then stack the bowl with shiny texture on top.", + "Pick up the ceramic bowl, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the ceramic bowl.", + "Take the bowl with brown outer rim, align the glazed bowl with curved sides, and stack them.", + "Align the blue bowl over the medium-sized bowl for holding food, then complete the stack.", + "Position the dark inside bowl light blue outside carefully on the bowl with brown outer rim.", + "Put the curved bowl light blue shade first, then bring the rounded bowl with light blue color to stack above.", + "Stack the small bowl with brown edge carefully over the small bowl with brown edge.", + "Lift the bowl with shiny texture and position it neatly over the small bowl with brown edge.", + "Pick the ceramic bowl with earthy brown trim, position the small bowl with brown edge, and place it over the ceramic bowl with earthy brown trim.", + "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.", + "Set the bowl with shiny texture down, then add the glazed bowl with curved sides over it.", + "Hold the bowl with shiny texture and stack the rounded bowl with light blue color neatly atop.", + "Set down the curved bowl light blue shade and drop the bowl with brown outer rim on top.", + "Take the small bowl with brown edge, position it, then stack the medium-sized bowl for holding food directly above.", + "Pick up the bowl with brown outer rim and set the bowl with brown outer rim on it.", + "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl above it.", + "Position the small bowl with brown edge and stack the small bowl with brown edge securely onto it.", + "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the ceramic bowl with the right arm.", + "Grab the ceramic bowl, set it down, then place the bowl with brown outer rim over it.", + "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the medium-sized bowl for holding food with the right arm.", + "Pick the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on it.", + "Lift the blue bowl with slightly rounded base, position the small bowl with brown edge above it, and stack.", + "With the left arm, lift the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim using the right arm.", + "Pick up the blue bowl, place it down, then position the medium-sized bowl for holding food on top.", + "Grab the blue bowl with slightly rounded base, then carefully place the dark inside bowl light blue outside on top.", + "Use the arm to place the bowl with brown outer rim, then stack the bowl with shiny texture on top.", + "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.", + "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.", + "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.", + "Grab the blue bowl, lift it up, position the ceramic bowl with earthy brown trim, and stack them.", + "Hold the blue bowl with slightly rounded base steady and slide the ceramic bowl on." + ], + "unseen": [ + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.", + "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/instructions/episode9.json b/ori_data/stack_bowls_two/franka_clean/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..92dbd1a1409d9a5f6666ac8aca167093b6b53941 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the rounded bowl with light blue color and position it neatly over the small bowl with brown edge.", + "Set down the bowl with brown outer rim and drop the bowl with shiny texture on top.", + "Lift the dark inside bowl light blue outside, lay it down, and stack the dark inside bowl light blue outside on top.", + "With the right arm, lift the blue bowl and stack the ceramic bowl with earthy brown trim using the left arm.", + "Take the bowl with shiny texture, position it, then stack the bowl with shiny texture directly above.", + "Place the medium-sized bowl for holding food down and stack the bowl with shiny texture on top.", + "Lift the blue bowl, then stack it on the blue bowl with slightly rounded base.", + "Grab the blue bowl with slightly rounded base, then carefully place the dark inside bowl light blue outside on top.", + "Pick up the rounded bowl with light blue color and set the bowl with shiny texture on it.", + "Lift the bowl with brown outer rim, put it on the table, and stack the medium-sized bowl for holding food above.", + "Pick the blue bowl with slightly rounded base, position on the table, and place the glazed bowl with curved sides over it.", + "Place the small bowl with brown edge on the surface, then stack the bowl with shiny texture above it.", + "Grab the ceramic bowl, then stack the blue bowl on top.", + "Pick up the blue bowl with slightly rounded base using the right arm, then stack the bowl with brown outer rim using the left arm.", + "Lift the ceramic bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl.", + "Take the blue bowl, place it, and stack the small bowl with brown edge on top.", + "Lift the curved bowl light blue shade using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.", + "Pick up the blue bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl.", + "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.", + "Take the medium-sized bowl for holding food, place the bowl with brown outer rim above, and let go.", + "Lift the bowl with shiny texture, stack it precisely on top of the glazed bowl with curved sides.", + "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.", + "Place the rounded bowl with light blue color down, then set the ceramic bowl above it.", + "Grab the bowl with brown outer rim, lift it up, position the bowl with brown outer rim, and stack them.", + "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.", + "Grab the bowl with shiny texture with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.", + "Pick the bowl with shiny texture, position the bowl with brown outer rim, and place it over the bowl with shiny texture.", + "Hold the rounded bowl with light blue color steady and slide the dark inside bowl light blue outside on.", + "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.", + "Grab the ceramic bowl, position it, and place the blue bowl on top.", + "Position the glazed bowl with curved sides, lift the ceramic bowl, and place the ceramic bowl on the glazed bowl with curved sides.", + "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge on top of the ceramic bowl with earthy brown trim.", + "Put the dark inside bowl light blue outside first, then bring the glazed bowl with curved sides to stack above.", + "Pick the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on it.", + "Lift the dark inside bowl light blue outside, position the bowl with brown outer rim above it, and stack.", + "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.", + "Position the bowl with shiny texture and stack the blue bowl with slightly rounded base securely onto it.", + "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl over it.", + "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl.", + "Align the medium-sized bowl for holding food over the blue bowl, then complete the stack.", + "Hold the glazed bowl with curved sides and stack the blue bowl with slightly rounded base neatly atop.", + "Use the right arm for the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food with the left arm.", + "Take the medium-sized bowl for holding food, align the glazed bowl with curved sides, and stack them.", + "Stack the medium-sized bowl for holding food securely on top of the bowl with shiny texture.", + "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.", + "Pick up the rounded bowl with light blue color, place it down, then position the bowl with brown outer rim on top.", + "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with shiny texture.", + "Position the bowl with shiny texture with the arm, then set the glazed bowl with curved sides above it.", + "Position the ceramic bowl carefully on the small bowl with brown edge.", + "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.", + "Set down the bowl with shiny texture and drop the small bowl with brown edge on top.", + "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl on top.", + "With the right arm, lift the blue bowl with slightly rounded base and stack the blue bowl using the left arm.", + "Take the bowl with brown outer rim, position it, then stack the bowl with brown outer rim directly above.", + "Place the ceramic bowl with earthy brown trim down and stack the blue bowl with slightly rounded base on top.", + "Lift the small bowl with brown edge, then stack it on the rounded bowl with light blue color.", + "Grab the bowl with shiny texture, then carefully place the medium-sized bowl for holding food on top.", + "Pick up the rounded bowl with light blue color and set the ceramic bowl with earthy brown trim on it.", + "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl with earthy brown trim above.", + "Pick the curved bowl light blue shade, position on the table, and place the curved bowl light blue shade over it.", + "Place the small bowl with brown edge on the surface, then stack the medium-sized bowl for holding food above it.", + "Grab the blue bowl, then stack the dark inside bowl light blue outside on top.", + "Pick up the rounded bowl with light blue color using the right arm, then stack the blue bowl with slightly rounded base using the left arm.", + "Lift the bowl with shiny texture, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with shiny texture.", + "Take the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade on top.", + "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the small bowl with brown edge using the left arm.", + "Pick up the ceramic bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl.", + "Use the arm to place the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on top.", + "Take the curved bowl light blue shade, place the blue bowl with slightly rounded base above, and let go.", + "Lift the ceramic bowl, stack it precisely on top of the rounded bowl with light blue color.", + "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.", + "Place the curved bowl light blue shade down, then set the ceramic bowl above it.", + "Grab the blue bowl, lift it up, position the ceramic bowl with earthy brown trim, and stack them.", + "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl with earthy brown trim rests above.", + "Grab the bowl with shiny texture with the right arm, place it, and stack the blue bowl with the left arm.", + "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.", + "Hold the small bowl with brown edge steady and slide the blue bowl on.", + "Align the bowl with brown outer rim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the bowl with brown outer rim.", + "Grab the dark inside bowl light blue outside, position it, and place the blue bowl on top.", + "Position the blue bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl.", + "Place the medium-sized bowl for holding food down, then set the medium-sized bowl for holding food on top of the medium-sized bowl for holding food.", + "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.", + "Pick the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on it.", + "Lift the dark inside bowl light blue outside, position the small bowl with brown edge above it, and stack.", + "Arrange the medium-sized bowl for holding food, lift the blue bowl with the arm, and stack them.", + "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.", + "Grab the small bowl with brown edge, set it down, then place the bowl with shiny texture over it.", + "Stack the small bowl with brown edge carefully over the small bowl with brown edge.", + "Align the ceramic bowl over the bowl with brown outer rim, then complete the stack.", + "Hold the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base neatly atop.", + "Use the right arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with earthy brown trim with the left arm.", + "Take the medium-sized bowl for holding food, align the ceramic bowl, and stack them.", + "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.", + "Set the ceramic bowl over the bowl with shiny texture to create the stack.", + "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with brown outer rim on top.", + "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl.", + "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl above it.", + "Position the bowl with brown outer rim carefully on the curved bowl light blue shade.", + "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.", + "Set down the medium-sized bowl for holding food and drop the dark inside bowl light blue outside on top." + ], + "unseen": [ + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.", + "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.", + "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.", + "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.", + "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.", + "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.", + "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.", + "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.", + "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.", + "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.", + "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.", + "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.", + "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.", + "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.", + "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.", + "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.", + "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.", + "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.", + "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.", + "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.", + "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.", + "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.", + "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.", + "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.", + "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.", + "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.", + "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.", + "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.", + "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.", + "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top." + ] +} \ No newline at end of file diff --git a/ori_data/stack_bowls_two/franka_clean/scene_info.json b/ori_data/stack_bowls_two/franka_clean/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..3653c80868c590fcdc594e4d928d83cbc3071f32 --- /dev/null +++ b/ori_data/stack_bowls_two/franka_clean/scene_info.json @@ -0,0 +1,652 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "002_bowl/base3", + "{B}": "002_bowl/base3", + "{a}": "right", + "{b}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "002_bowl/base3", + "{B}": "002_bowl/base3", + "{a}": "right", + "{b}": "left" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "002_bowl/base3", + "{B}": 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