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adjust_bottle/demo_clean_ep20_vidar/instructions/episode0.json

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+{
+  "seen": [
+    "Raise the medium green bottle with capped neck from the table using the correct arm, the left arm.",
+    "Pick the bottle with ridges near base upright from the table",
+    "Secure the handheld green bottle upright with the left arm",
+    "Lift the plastic bottle from the table and secure upright",
+    "Use the left arm to pick the green bottle with indented base up and keep it head-up.",
+    "Pick up the plastic bottle upright from the table",
+    "Grab the green bottle with indented base and lift it upright",
+    "Lift the smooth green plastic bottle from the table with the left arm",
+    "Hold the bottle with rounded neck upright from the table",
+    "Hold the medium green bottle upright after lifting with the left arm",
+    "Lift the bottle with narrow top off the table and hold it upright.",
+    "Use the left arm to pick up the smooth green plastic bottle from the table.",
+    "Lift the medium green bottle with capped neck from the table without mentioning the arm.",
+    "Grab the smooth green bottle and lift it into a head-up position",
+    "Pick the bottle with narrow top up with the left arm ensuring it stays head-up.",
+    "Pick up the handheld green bottle from the table using the left arm.",
+    "Lift the medium green bottle with capped neck from the table upright",
+    "Take the bottle with narrow top from the table and keep upright",
+    "Pick the smooth green bottle upright from the table",
+    "Use the left arm to pick up the plastic bottle in the correct orientation",
+    "Grab the medium-sized green bottle and lift it with the left arm",
+    "Find the handheld green bottle on the table and raise it using the left arm.",
+    "Pick the bottle with narrow top and keep it upright",
+    "Pick up the medium green bottle with capped neck from the table carefully.",
+    "Utilize the left arm to lift the green bottle with indented base while keeping it head-up.",
+    "Use the correct arm to pick up the green bottle with indented base.",
+    "Grab the smooth green plastic bottle and lift it upward from the table.",
+    "Lift the bottle the medium green bottle with capped neck headup from the table",
+    "Lift the smooth green bottle upright carefully using the left arm",
+    "Hold the bottle with ridges near base head-up after lifting it.",
+    "Grab the handheld green bottle head-up using the left arm from the table.",
+    "Using the left arm, pick the green bottle with indented base upright",
+    "Lift the smooth green bottle head-up from the table",
+    "Lift the bottle the plastic bottle up from the table",
+    "Grab the smooth green plastic bottle with the left arm in a head-up way",
+    "Identify the bottle with rounded neck and grab it with the left arm",
+    "Position the handheld green bottle head-up and lift it",
+    "Use the left arm to lift the smooth green plastic bottle head-up",
+    "Raise the handheld green bottle in a head-up position",
+    "Lift the bottle with white printed label using the left arm and hold upright",
+    "Locate the bottle with white printed label and lift it upright with the left arm.",
+    "Use the left arm to hold the plastic bottle from the table",
+    "Lift the plastic bottle head-up from the table.",
+    "Grab the bottle with white printed label from the table and hold it head-up.",
+    "Carefully grab the bottle with white printed label head-up",
+    "Lift the bottle with narrow top ensuring it remains upright.",
+    "Pick the bottle with rounded neck head-up and hold it steady.",
+    "Use the left arm to grab and lift the smooth green plastic bottle head-up.",
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Grab the plastic bottle from the table with the left arm",
+    "Raise the bottle with ridges near base from the table using the correct arm, the left arm.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Secure the bottle with rounded neck upright with the left arm",
+    "Lift the handheld green bottle from the table and secure upright",
+    "Use the left arm to pick the medium-sized green bottle up and keep it head-up.",
+    "Pick up the smooth green bottle upright from the table",
+    "Grab the bottle with ridges near base and lift it upright",
+    "Lift the smooth green plastic bottle from the table with the left arm",
+    "Hold the handheld green bottle upright from the table",
+    "Hold the smooth green bottle upright after lifting with the left arm",
+    "Lift the medium green bottle off the table and hold it upright.",
+    "Use the left arm to pick up the bottle with ridges near base from the table.",
+    "Lift the medium-sized green bottle from the table without mentioning the arm.",
+    "Grab the bottle with ridges near base and lift it into a head-up position",
+    "Pick the bottle with rounded neck up with the left arm ensuring it stays head-up.",
+    "Pick up the bottle with narrow top from the table using the left arm.",
+    "Lift the smooth green plastic bottle from the table upright",
+    "Take the bottle with ridges near base from the table and keep upright",
+    "Pick the bottle with narrow top upright from the table",
+    "Use the left arm to pick up the green bottle with indented base in the correct orientation",
+    "Grab the green bottle with indented base and lift it with the left arm",
+    "Find the medium green bottle on the table and raise it using the left arm.",
+    "Pick the medium-sized green bottle and keep it upright",
+    "Pick up the bottle with white printed label from the table carefully.",
+    "Utilize the left arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Use the correct arm to pick up the smooth green bottle.",
+    "Grab the green bottle with indented base and lift it upward from the table.",
+    "Lift the bottle the bottle with ridges near base headup from the table",
+    "Lift the bottle with narrow top upright carefully using the left arm",
+    "Hold the medium green bottle head-up after lifting it.",
+    "Grab the green bottle with indented base head-up using the left arm from the table.",
+    "Using the left arm, pick the bottle with rounded neck upright",
+    "Lift the bottle with rounded neck head-up from the table",
+    "Lift the bottle the medium green bottle up from the table",
+    "Grab the smooth green plastic bottle with the left arm in a head-up way",
+    "Identify the plastic bottle and grab it with the left arm",
+    "Position the medium green bottle head-up and lift it",
+    "Use the left arm to lift the bottle with rounded neck head-up",
+    "Raise the plastic bottle in a head-up position",
+    "Lift the handheld green bottle using the left arm and hold upright",
+    "Locate the bottle with white printed label and lift it upright with the left arm.",
+    "Use the left arm to hold the smooth green bottle from the table",
+    "Lift the plastic bottle head-up from the table.",
+    "Grab the bottle with white printed label from the table and hold it head-up.",
+    "Carefully grab the handheld green bottle head-up",
+    "Lift the smooth green plastic bottle ensuring it remains upright.",
+    "Pick the medium green bottle with capped neck head-up and hold it steady.",
+    "Use the left arm to grab and lift the medium green bottle head-up.",
+    "Pick the handheld green bottle head-up using the right arm",
+    "Grab the medium green bottle from the table with the left arm"
+  ],
+  "unseen": [
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle from the table with the left arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Utilize the left arm to lift the brown bottle with red label while keeping it head-up.",
+    "Use the left arm to hold the bottle with white neck and red top from the table",
+    "Secure the Coca-Cola bottle upright with the left arm",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Use the left arm to pick the bottle with white neck and red top up and keep it head-up.",
+    "Grab the narrow-necked bottle and lift it with the left arm",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Raise the plastic drink bottle in a head-up position",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Hold the brown bottle with red label upright from the table",
+    "Pick the plastic drink bottle up with the left arm ensuring it stays head-up.",
+    "Lift the Coca-Cola bottle upright carefully using the left arm",
+    "Carefully grab the narrow-necked bottle head-up",
+    "Use the left arm to pick up the hand-sized soda bottle from the table.",
+    "Pick up the long thin bottle upright from the table",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Hold the bottle with ridges on bottom upright after lifting with the left arm",
+    "Grab the red-capped bottle with the left arm in a head-up way",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Identify the smooth bottle with red lid and grab it with the left arm",
+    "Lift the hand-sized soda bottle using the left arm and hold upright",
+    "Use the left arm to lift the long thin bottle head-up",
+    "Pick up the plastic drink bottle from the table using the left arm.",
+    "Use the left arm to pick up the long thin bottle in the correct orientation",
+    "Lift the brown bottle with red label head-up from the table",
+    "Find the medium dark brown bottle on the table and raise it using the left arm.",
+    "Locate the hand-sized soda bottle and lift it upright with the left arm.",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Pick the plastic drink bottle and keep it upright",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm.",
+    "Pick the brown bottle with red label head-up using the right arm",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Raise the bottle with white neck and red top from the table using the correct arm, the left arm.",
+    "Using the left arm, pick the bottle with white neck and red top upright",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Pick the plastic drink bottle upright from the table",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Position the hand-sized soda bottle head-up and lift it",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Grab the bottle with ridges on bottom and lift it upward from the table.",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Lift the smooth bottle with red lid from the table with the left arm",
+    "Use the left arm to grab and lift the medium dark brown bottle head-up.",
+    "Utilize the left arm to lift the red-capped bottle while keeping it head-up.",
+    "Use the left arm to hold the dark drink bottle with logo from the table",
+    "Secure the long thin bottle upright with the left arm",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Lift the bottle the plastic drink bottle headup from the table",
+    "Use the left arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Grab the dark drink bottle with logo and lift it into a head-up position",
+    "Lift the bottle with ridges on bottom from the table and secure upright",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Pick the long thin bottle upright from the table",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Hold the dark drink bottle with logo upright from the table",
+    "Pick the narrow-necked bottle up with the left arm ensuring it stays head-up.",
+    "Lift the plastic drink bottle upright carefully using the left arm",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Use the left arm to pick up the medium dark brown bottle from the table.",
+    "Pick up the long thin bottle upright from the table",
+    "Take the dark drink bottle with logo from the table and keep upright",
+    "Hold the smooth bottle with red lid upright after lifting with the left arm",
+    "Grab the hand-sized soda bottle with the left arm in a head-up way",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Identify the medium dark brown bottle and grab it with the left arm",
+    "Lift the medium dark brown bottle using the left arm and hold upright",
+    "Use the left arm to lift the Coca-Cola bottle head-up",
+    "Pick up the dark drink bottle with logo from the table using the left arm.",
+    "Use the left arm to pick up the bottle with white neck and red top in the correct orientation",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Find the red-capped bottle on the table and raise it using the left arm.",
+    "Locate the long thin bottle and lift it upright with the left arm.",
+    "Grab the medium dark brown bottle from the table with the left arm",
+    "Pick the plastic drink bottle and keep it upright",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Raise the smooth bottle with red lid from the table using the correct arm, the left arm.",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Grab the plastic drink bottle and lift it upright",
+    "Grab the bottle with white neck and red top head-up using the left arm from the table.",
+    "Pick the long thin bottle upright from the table",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Position the narrow-necked bottle head-up and lift it",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Lift the bottle with ridges on bottom from the table with the left arm"
+  ],
+  "unseen": [
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium green bottle with capped neck upright after lifting with the left arm",
+    "Pick the bottle with white printed label upright from the table",
+    "Take the bottle with rounded neck from the table and keep upright",
+    "Grab the bottle with rounded neck and lift it upright",
+    "Pick up the bottle with narrow top from the table carefully.",
+    "Raise the green bottle with indented base in a head-up position",
+    "Secure the medium green bottle upright with the left arm",
+    "Pick the bottle with white printed label and keep it upright",
+    "Grab the smooth green plastic bottle from the table and hold it head-up.",
+    "Grab the bottle with white printed label with the left arm in a head-up way",
+    "Pick the bottle with ridges near base head-up and hold it steady.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Hold the plastic bottle upright from the table",
+    "Grab the medium green bottle with capped neck and lift it with the left arm",
+    "Utilize the left arm to lift the medium green bottle with capped neck while keeping it head-up.",
+    "Use the correct arm to pick up the bottle with white printed label.",
+    "Lift the bottle the medium-sized green bottle headup from the table",
+    "Use the left arm to hold the handheld green bottle from the table",
+    "Using the left arm, pick the plastic bottle upright",
+    "Lift the bottle with white printed label from the table without mentioning the arm.",
+    "Use the left arm to pick the medium-sized green bottle up and keep it head-up.",
+    "Carefully grab the plastic bottle head-up",
+    "Use the left arm to lift the plastic bottle head-up",
+    "Use the left arm to pick up the handheld green bottle in the correct orientation",
+    "Position the bottle with narrow top head-up and lift it",
+    "Grab the bottle with rounded neck head-up using the left arm from the table.",
+    "Lift the handheld green bottle head-up from the table",
+    "Grab the handheld green bottle from the table with the left arm",
+    "Raise the handheld green bottle from the table using the correct arm, the left arm.",
+    "Lift the smooth green bottle from the table and secure upright",
+    "Locate the bottle with narrow top and lift it upright with the left arm.",
+    "Identify the bottle with rounded neck and grab it with the left arm",
+    "Pick the smooth green plastic bottle head-up using the right arm",
+    "Lift the bottle with ridges near base using the left arm and hold upright",
+    "Use the left arm to grab and lift the handheld green bottle head-up.",
+    "Pick the bottle with narrow top up with the left arm ensuring it stays head-up.",
+    "Use the left arm to pick up the green bottle with indented base from the table.",
+    "Lift the bottle the bottle with ridges near base up from the table",
+    "Grab the green bottle with indented base and lift it upward from the table.",
+    "Hold the handheld green bottle head-up after lifting it.",
+    "Grab the bottle with white printed label and lift it into a head-up position",
+    "Lift the handheld green bottle upright carefully using the left arm",
+    "Lift the medium green bottle from the table upright",
+    "Pick up the green bottle with indented base upright from the table",
+    "Pick up the bottle with white printed label from the table using the left arm.",
+    "Lift the smooth green plastic bottle head-up from the table.",
+    "Lift the medium green bottle ensuring it remains upright.",
+    "Find the smooth green plastic bottle on the table and raise it using the left arm.",
+    "Lift the bottle with narrow top from the table with the left arm",
+    "Lift the bottle with ridges near base off the table and hold it upright.",
+    "Hold the handheld green bottle upright after lifting with the left arm",
+    "Pick the bottle with rounded neck upright from the table",
+    "Take the medium-sized green bottle from the table and keep upright",
+    "Grab the smooth green plastic bottle and lift it upright",
+    "Pick up the bottle with ridges near base from the table carefully.",
+    "Raise the smooth green plastic bottle in a head-up position",
+    "Secure the bottle with ridges near base upright with the left arm",
+    "Pick the bottle with rounded neck and keep it upright",
+    "Grab the bottle with ridges near base from the table and hold it head-up.",
+    "Grab the bottle with rounded neck with the left arm in a head-up way",
+    "Pick the green bottle with indented base head-up and hold it steady.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Hold the plastic bottle upright from the table",
+    "Grab the medium green bottle with capped neck and lift it with the left arm",
+    "Utilize the left arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Use the correct arm to pick up the plastic bottle.",
+    "Lift the bottle the bottle with rounded neck headup from the table",
+    "Use the left arm to hold the smooth green plastic bottle from the table",
+    "Using the left arm, pick the smooth green plastic bottle upright",
+    "Lift the handheld green bottle from the table without mentioning the arm.",
+    "Use the left arm to pick the medium-sized green bottle up and keep it head-up.",
+    "Carefully grab the handheld green bottle head-up",
+    "Use the left arm to lift the handheld green bottle head-up",
+    "Use the left arm to pick up the medium green bottle in the correct orientation",
+    "Position the handheld green bottle head-up and lift it",
+    "Grab the green bottle with indented base head-up using the left arm from the table.",
+    "Lift the green bottle with indented base head-up from the table",
+    "Grab the green bottle with indented base from the table with the left arm",
+    "Raise the green bottle with indented base from the table using the correct arm, the left arm.",
+    "Lift the bottle with ridges near base from the table and secure upright",
+    "Locate the bottle with rounded neck and lift it upright with the left arm.",
+    "Identify the green bottle with indented base and grab it with the left arm",
+    "Pick the plastic bottle head-up using the right arm",
+    "Lift the bottle with rounded neck using the left arm and hold upright",
+    "Use the left arm to grab and lift the bottle with narrow top head-up.",
+    "Pick the smooth green bottle up with the left arm ensuring it stays head-up.",
+    "Use the left arm to pick up the bottle with rounded neck from the table.",
+    "Lift the bottle the smooth green plastic bottle up from the table",
+    "Grab the medium-sized green bottle and lift it upward from the table.",
+    "Hold the medium green bottle with capped neck head-up after lifting it.",
+    "Grab the handheld green bottle and lift it into a head-up position",
+    "Lift the handheld green bottle upright carefully using the left arm",
+    "Lift the bottle with narrow top from the table upright",
+    "Pick up the green bottle with indented base upright from the table",
+    "Pick up the bottle with rounded neck from the table using the left arm.",
+    "Lift the plastic bottle head-up from the table.",
+    "Lift the smooth green plastic bottle ensuring it remains upright.",
+    "Find the handheld green bottle on the table and raise it using the left arm.",
+    "Lift the medium-sized green bottle from the table with the left arm",
+    "Lift the plastic bottle off the table and hold it upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle using the correct arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic drink bottle from the table with the left arm",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Using the left arm, pick the long thin bottle upright",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Use the left arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Grab the smooth bottle with red lid and lift it upward from the table.",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Lift the long thin bottle from the table and secure upright",
+    "Take the red-capped bottle from the table and keep upright",
+    "Use the left arm to pick up the brown bottle with red label from the table.",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Grab the long thin bottle head-up using the left arm from the table.",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Raise the dark drink bottle with logo from the table using the correct arm, the left arm.",
+    "Use the left arm to pick up the medium dark brown bottle in the correct orientation",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Find the brown bottle with red label on the table and raise it using the left arm.",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Secure the red-capped bottle upright with the left arm",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Lift the red-capped bottle from the table upright",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Hold the narrow-necked bottle upright from the table",
+    "Pick the medium dark brown bottle up with the left arm ensuring it stays head-up.",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Identify the brown bottle with red label and grab it with the left arm",
+    "Grab the red-capped bottle from the table and hold it head-up.",
+    "Use the left arm to grab and lift the medium dark brown bottle head-up.",
+    "Lift the Coca-Cola bottle upright carefully using the left arm",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Lift the long thin bottle head-up from the table",
+    "Use the left arm to lift the brown bottle with red label head-up",
+    "Grab the long thin bottle and lift it with the left arm",
+    "Utilize the left arm to lift the brown bottle with red label while keeping it head-up.",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Pick the long thin bottle upright from the table",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Locate the hand-sized soda bottle and lift it upright with the left arm.",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Use the left arm to hold the brown bottle with red label from the table",
+    "Lift the bottle with white neck and red top from the table with the left arm",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Using the left arm, pick the bottle with white neck and red top upright",
+    "Grab the dark drink bottle with logo with the left arm in a head-up way",
+    "Lift the red-capped bottle using the left arm and hold upright",
+    "Grab the long thin bottle and lift it upright",
+    "Use the left arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Grab the red-capped bottle and lift it upward from the table.",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Take the brown bottle with red label from the table and keep upright",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Lift the bottle the plastic drink bottle headup from the table",
+    "Grab the bottle with white neck and red top head-up using the left arm from the table.",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Lift the plastic drink bottle head-up from the table.",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Raise the medium dark brown bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to pick up the plastic drink bottle in the correct orientation",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Find the medium dark brown bottle on the table and raise it using the left arm.",
+    "Pick up the hand-sized soda bottle from the table using the left arm.",
+    "Secure the hand-sized soda bottle upright with the left arm",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Lift the plastic drink bottle from the table upright",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Hold the smooth bottle with red lid upright from the table",
+    "Pick the smooth bottle with red lid up with the left arm ensuring it stays head-up.",
+    "Hold the red-capped bottle upright after lifting with the left arm",
+    "Position the plastic drink bottle head-up and lift it",
+    "Identify the bottle with white neck and red top and grab it with the left arm",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Use the left arm to grab and lift the Coca-Cola bottle head-up.",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Pick the red-capped bottle head-up and hold it steady.",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Use the left arm to lift the hand-sized soda bottle head-up",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Utilize the left arm to lift the brown bottle with red label while keeping it head-up.",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Pick up the dark drink bottle with logo upright from the table",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Grab the medium dark brown bottle from the table with the left arm",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Locate the plastic drink bottle and lift it upright with the left arm.",
+    "Pick the dark drink bottle with logo head-up using the right arm",
+    "Use the left arm to hold the long thin bottle from the table"
+  ],
+  "unseen": [
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to hold the plastic drink bottle from the table",
+    "Grab the red-capped bottle with the right arm in a head-up way",
+    "Use the right arm to lift the bottle with white neck and red top head-up",
+    "Lift the narrow-necked bottle using the right arm and hold upright",
+    "Pick the narrow-necked bottle upright from the table",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Utilize the right arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Use the right arm to pick the red-capped bottle up and keep it head-up.",
+    "Grab the medium dark brown bottle from the table with the right arm",
+    "Position the long thin bottle head-up and lift it",
+    "Use the right arm to pick up the bottle with white neck and red top from the table.",
+    "Grab the bottle with ridges on bottom head-up using the right arm from the table.",
+    "Hold the Coca-Cola bottle head-up after lifting it.",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Lift the smooth bottle with red lid ensuring it remains upright.",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Lift the brown bottle with red label from the table without mentioning the arm.",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Hold the long thin bottle upright after lifting with the right arm",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Use the right arm to grab and lift the plastic drink bottle head-up.",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Find the medium dark brown bottle on the table and raise it using the right arm.",
+    "Raise the red-capped bottle in a head-up position",
+    "Use the right arm to pick up the bottle with white neck and red top in the correct orientation",
+    "Secure the bottle with ridges on bottom upright with the right arm",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Pick up the red-capped bottle from the table using the right arm.",
+    "Using the right arm, pick the narrow-necked bottle upright",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Grab the narrow-necked bottle and lift it with the right arm",
+    "Pick up the plastic drink bottle from the table carefully.",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Pick the bottle with white neck and red top up with the right arm ensuring it stays head-up.",
+    "Lift the red-capped bottle from the table with the right arm",
+    "Locate the bottle with ridges on bottom and lift it upright with the right arm.",
+    "Lift the dark drink bottle with logo upright carefully using the right arm",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Raise the brown bottle with red label from the table using the correct arm, the right arm.",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Lift the long thin bottle head-up from the table",
+    "Use the right arm to hold the medium dark brown bottle from the table",
+    "Grab the plastic drink bottle with the right arm in a head-up way",
+    "Use the right arm to lift the bottle with white neck and red top head-up",
+    "Lift the bottle with ridges on bottom using the right arm and hold upright",
+    "Pick the medium dark brown bottle upright from the table",
+    "Carefully grab the red-capped bottle head-up",
+    "Utilize the right arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Use the right arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Grab the red-capped bottle from the table with the right arm",
+    "Position the bottle with white neck and red top head-up and lift it",
+    "Use the right arm to pick up the hand-sized soda bottle from the table.",
+    "Grab the dark drink bottle with logo head-up using the right arm from the table.",
+    "Hold the plastic drink bottle head-up after lifting it.",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Lift the brown bottle with red label from the table without mentioning the arm.",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Hold the plastic drink bottle upright after lifting with the right arm",
+    "Pick the long thin bottle head-up using the right arm",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Lift the dark drink bottle with logo from the table and secure upright",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Use the right arm to grab and lift the narrow-necked bottle head-up.",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Use the right arm to pick up the brown bottle with red label in the correct orientation",
+    "Secure the Coca-Cola bottle upright with the right arm",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Grab the plastic drink bottle and lift it upright",
+    "Pick up the medium dark brown bottle from the table using the right arm.",
+    "Using the right arm, pick the plastic drink bottle upright",
+    "Lift the red-capped bottle head-up from the table.",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Grab the red-capped bottle and lift it with the right arm",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Pick the smooth bottle with red lid up with the right arm ensuring it stays head-up.",
+    "Lift the bottle with ridges on bottom from the table with the right arm",
+    "Locate the dark drink bottle with logo and lift it upright with the right arm.",
+    "Lift the hand-sized soda bottle upright carefully using the right arm",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Raise the brown bottle with red label from the table using the correct arm, the right arm.",
+    "Identify the bottle with ridges on bottom and grab it with the right arm",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Lift the plastic drink bottle head-up from the table"
+  ],
+  "unseen": [
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up."
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth green bottle head-up from the table.",
+    "Raise the green bottle with indented base in a head-up position",
+    "Lift the bottle with rounded neck ensuring it remains upright.",
+    "Grab the smooth green plastic bottle head-up using the left arm from the table.",
+    "Grab the handheld green bottle with the left arm in a head-up way",
+    "Grab the bottle with narrow top and lift it with the left arm",
+    "Raise the medium green bottle with capped neck from the table using the correct arm, the left arm.",
+    "Lift the bottle with ridges near base from the table upright",
+    "Pick the plastic bottle head-up using the right arm",
+    "Secure the medium green bottle upright with the left arm",
+    "Hold the smooth green bottle upright after lifting with the left arm",
+    "Grab the medium green bottle with capped neck and lift it into a head-up position",
+    "Take the medium green bottle from the table and keep upright",
+    "Pick the bottle with white printed label up with the left arm ensuring it stays head-up.",
+    "Use the left arm to lift the handheld green bottle head-up",
+    "Position the smooth green bottle head-up and lift it",
+    "Carefully grab the green bottle with indented base head-up",
+    "Locate the bottle with narrow top and lift it upright with the left arm.",
+    "Use the correct arm to pick up the bottle with ridges near base.",
+    "Use the left arm to grab and lift the medium green bottle head-up.",
+    "Using the left arm, pick the bottle with narrow top upright",
+    "Use the left arm to pick up the smooth green bottle from the table.",
+    "Lift the bottle with ridges near base from the table without mentioning the arm.",
+    "Pick the bottle with narrow top upright from the table",
+    "Grab the smooth green plastic bottle from the table with the left arm",
+    "Pick up the bottle with narrow top upright from the table",
+    "Use the left arm to pick the medium green bottle with capped neck up and keep it head-up.",
+    "Hold the plastic bottle head-up after lifting it.",
+    "Pick up the bottle with narrow top from the table using the left arm.",
+    "Lift the medium green bottle with capped neck upright carefully using the left arm",
+    "Pick the medium green bottle head-up and hold it steady.",
+    "Pick the medium-sized green bottle upright from the table",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Lift the bottle the medium green bottle with capped neck up from the table",
+    "Utilize the left arm to lift the medium green bottle with capped neck while keeping it head-up.",
+    "Grab the bottle with rounded neck and lift it upright",
+    "Pick the medium-sized green bottle and keep it upright",
+    "Use the left arm to hold the medium green bottle from the table",
+    "Use the left arm to pick up the green bottle with indented base in the correct orientation",
+    "Find the bottle with rounded neck on the table and raise it using the left arm.",
+    "Grab the plastic bottle from the table and hold it head-up.",
+    "Hold the bottle with white printed label upright from the table",
+    "Lift the medium green bottle head-up from the table",
+    "Lift the bottle with narrow top using the left arm and hold upright",
+    "Lift the bottle with rounded neck from the table with the left arm",
+    "Pick up the bottle with white printed label from the table carefully.",
+    "Lift the medium-sized green bottle off the table and hold it upright.",
+    "Identify the bottle with white printed label and grab it with the left arm",
+    "Grab the handheld green bottle and lift it upward from the table.",
+    "Lift the bottle with ridges near base from the table and secure upright",
+    "Lift the bottle with narrow top head-up from the table.",
+    "Raise the smooth green plastic bottle in a head-up position",
+    "Lift the green bottle with indented base ensuring it remains upright.",
+    "Grab the medium-sized green bottle head-up using the left arm from the table.",
+    "Grab the green bottle with indented base with the left arm in a head-up way",
+    "Grab the handheld green bottle and lift it with the left arm",
+    "Raise the bottle with narrow top from the table using the correct arm, the left arm.",
+    "Lift the medium green bottle from the table upright",
+    "Pick the medium-sized green bottle head-up using the right arm",
+    "Secure the medium green bottle with capped neck upright with the left arm",
+    "Hold the bottle with ridges near base upright after lifting with the left arm",
+    "Grab the smooth green bottle and lift it into a head-up position",
+    "Take the medium green bottle with capped neck from the table and keep upright",
+    "Pick the bottle with ridges near base up with the left arm ensuring it stays head-up.",
+    "Use the left arm to lift the smooth green plastic bottle head-up",
+    "Position the bottle with white printed label head-up and lift it",
+    "Carefully grab the smooth green bottle head-up",
+    "Locate the smooth green plastic bottle and lift it upright with the left arm.",
+    "Use the correct arm to pick up the plastic bottle.",
+    "Use the left arm to grab and lift the smooth green bottle head-up.",
+    "Using the left arm, pick the bottle with rounded neck upright",
+    "Use the left arm to pick up the medium green bottle with capped neck from the table.",
+    "Lift the green bottle with indented base from the table without mentioning the arm.",
+    "Pick the handheld green bottle upright from the table",
+    "Grab the bottle with narrow top from the table with the left arm",
+    "Pick up the smooth green plastic bottle upright from the table",
+    "Use the left arm to pick the medium green bottle up and keep it head-up.",
+    "Hold the medium green bottle with capped neck head-up after lifting it.",
+    "Pick up the bottle with white printed label from the table using the left arm.",
+    "Lift the medium green bottle upright carefully using the left arm",
+    "Pick the medium-sized green bottle head-up and hold it steady.",
+    "Pick the bottle with ridges near base upright from the table",
+    "Lift the bottle the medium green bottle with capped neck headup from the table",
+    "Lift the bottle the smooth green bottle up from the table",
+    "Utilize the left arm to lift the green bottle with indented base while keeping it head-up.",
+    "Grab the bottle with ridges near base and lift it upright",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Use the left arm to hold the smooth green plastic bottle from the table",
+    "Use the left arm to pick up the bottle with white printed label in the correct orientation",
+    "Find the green bottle with indented base on the table and raise it using the left arm.",
+    "Grab the handheld green bottle from the table and hold it head-up.",
+    "Hold the bottle with narrow top upright from the table",
+    "Lift the plastic bottle head-up from the table",
+    "Lift the smooth green bottle using the left arm and hold upright",
+    "Lift the green bottle with indented base from the table with the left arm",
+    "Pick up the smooth green bottle from the table carefully.",
+    "Lift the green bottle with indented base off the table and hold it upright.",
+    "Identify the bottle with white printed label and grab it with the left arm",
+    "Grab the smooth green plastic bottle and lift it upward from the table.",
+    "Lift the bottle with white printed label from the table and secure upright"
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Use the left arm to grab the green bottle upright",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Lift the green bottle from the table using the left arm.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the green bottle upright",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to hold the smooth bottle with red lid from the table",
+    "Find the hand-sized soda bottle on the table and raise it using the left arm.",
+    "Secure the plastic drink bottle upright with the left arm",
+    "Grab the plastic drink bottle head-up using the left arm from the table.",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Use the left arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Lift the bottle the long thin bottle up from the table",
+    "Pick the bottle with white neck and red top up with the left arm ensuring it stays head-up.",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Lift the brown bottle with red label head-up from the table",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Grab the hand-sized soda bottle and lift it with the left arm",
+    "Lift the red-capped bottle head-up from the table.",
+    "Lift the long thin bottle from the table upright",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Locate the brown bottle with red label and lift it upright with the left arm.",
+    "Raise the brown bottle with red label in a head-up position",
+    "Raise the dark drink bottle with logo from the table using the correct arm, the left arm.",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Pick the plastic drink bottle and keep it upright",
+    "Pick the red-capped bottle upright from the table",
+    "Use the left arm to pick the smooth bottle with red lid up and keep it head-up.",
+    "Hold the plastic drink bottle upright from the table",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Use the left arm to pick up the long thin bottle from the table.",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Hold the plastic drink bottle head-up after lifting it.",
+    "Lift the dark drink bottle with logo using the left arm and hold upright",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Grab the hand-sized soda bottle from the table with the left arm",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Lift the medium dark brown bottle from the table with the left arm",
+    "Pick the narrow-necked bottle upright from the table",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Pick up the brown bottle with red label upright from the table",
+    "Lift the bottle with white neck and red top upright carefully using the left arm",
+    "Using the left arm, pick the narrow-necked bottle upright",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Pick up the medium dark brown bottle from the table using the left arm.",
+    "Use the left arm to lift the dark drink bottle with logo head-up",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Identify the long thin bottle and grab it with the left arm",
+    "Grab the long thin bottle with the left arm in a head-up way",
+    "Utilize the left arm to lift the medium dark brown bottle while keeping it head-up.",
+    "Use the left arm to hold the dark drink bottle with logo from the table",
+    "Find the smooth bottle with red lid on the table and raise it using the left arm.",
+    "Secure the Coca-Cola bottle upright with the left arm",
+    "Grab the brown bottle with red label head-up using the left arm from the table.",
+    "Lift the narrow-necked bottle from the table and secure upright",
+    "Use the left arm to pick up the medium dark brown bottle in the correct orientation",
+    "Lift the bottle the narrow-necked bottle up from the table",
+    "Pick the bottle with white neck and red top up with the left arm ensuring it stays head-up.",
+    "Position the bottle with ridges on bottom head-up and lift it",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Grab the plastic drink bottle and lift it with the left arm",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Lift the brown bottle with red label from the table upright",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the bottle with white neck and red top head-up.",
+    "Locate the medium dark brown bottle and lift it upright with the left arm.",
+    "Raise the Coca-Cola bottle in a head-up position",
+    "Raise the narrow-necked bottle from the table using the correct arm, the left arm.",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Pick the plastic drink bottle and keep it upright",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Use the left arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Use the left arm to pick up the bottle with white neck and red top from the table.",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Lift the bottle with white neck and red top using the left arm and hold upright",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Grab the hand-sized soda bottle from the table with the left arm",
+    "Grab the bottle with ridges on bottom and lift it upward from the table.",
+    "Lift the hand-sized soda bottle from the table with the left arm",
+    "Pick the red-capped bottle upright from the table",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Pick up the red-capped bottle upright from the table",
+    "Lift the Coca-Cola bottle upright carefully using the left arm",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Pick up the bottle with ridges on bottom from the table using the left arm.",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Take the red-capped bottle from the table and keep upright",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Identify the red-capped bottle and grab it with the left arm",
+    "Grab the bottle with ridges on bottom with the left arm in a head-up way",
+    "Utilize the left arm to lift the hand-sized soda bottle while keeping it head-up."
+  ],
+  "unseen": [
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick up the bottle with narrow top in the correct orientation",
+    "Lift the handheld green bottle from the table without mentioning the arm.",
+    "Pick the bottle with narrow top upright from the table",
+    "Lift the smooth green bottle from the table with the right arm",
+    "Use the right arm to hold the bottle with narrow top from the table",
+    "Grab the bottle with narrow top and lift it upward from the table.",
+    "Use the correct arm to pick up the medium green bottle with capped neck.",
+    "Lift the medium green bottle from the table upright",
+    "Grab the plastic bottle from the table and hold it head-up.",
+    "Pick the medium green bottle with capped neck upright from the table",
+    "Grab the medium green bottle with capped neck head-up using the right arm from the table.",
+    "Locate the smooth green bottle and lift it upright with the right arm.",
+    "Grab the handheld green bottle from the table with the right arm",
+    "Take the handheld green bottle from the table and keep upright",
+    "Hold the handheld green bottle upright after lifting with the right arm",
+    "Hold the bottle with narrow top head-up after lifting it.",
+    "Secure the bottle with rounded neck upright with the right arm",
+    "Grab the bottle with narrow top and lift it upright",
+    "Raise the smooth green plastic bottle from the table using the correct arm, the right arm.",
+    "Pick up the smooth green plastic bottle from the table using the right arm.",
+    "Grab the medium-sized green bottle and lift it into a head-up position",
+    "Using the right arm, pick the medium green bottle with capped neck upright",
+    "Lift the green bottle with indented base using the right arm and hold upright",
+    "Use the right arm to grab and lift the bottle with white printed label head-up.",
+    "Find the green bottle with indented base on the table and raise it using the right arm.",
+    "Pick the bottle with narrow top and keep it upright",
+    "Hold the smooth green plastic bottle upright from the table",
+    "Lift the handheld green bottle upright carefully using the right arm",
+    "Pick the handheld green bottle head-up and hold it steady.",
+    "Use the right arm to lift the medium green bottle head-up",
+    "Position the smooth green plastic bottle head-up and lift it",
+    "Lift the smooth green bottle head-up from the table.",
+    "Pick up the medium green bottle upright from the table",
+    "Utilize the right arm to lift the medium-sized green bottle while keeping it head-up.",
+    "Lift the bottle with narrow top off the table and hold it upright.",
+    "Lift the bottle with white printed label from the table and secure upright",
+    "Pick the smooth green plastic bottle up with the right arm ensuring it stays head-up.",
+    "Carefully grab the bottle with ridges near base head-up",
+    "Identify the bottle with rounded neck and grab it with the right arm",
+    "Lift the bottle the smooth green plastic bottle headup from the table",
+    "Lift the bottle the handheld green bottle up from the table",
+    "Use the right arm to pick up the medium green bottle from the table.",
+    "Raise the medium green bottle with capped neck in a head-up position",
+    "Pick the plastic bottle head-up using the right arm",
+    "Lift the smooth green plastic bottle head-up from the table",
+    "Grab the smooth green bottle and lift it with the right arm",
+    "Grab the bottle with ridges near base with the right arm in a head-up way",
+    "Use the right arm to pick the medium green bottle with capped neck up and keep it head-up.",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Pick up the smooth green bottle from the table carefully.",
+    "Use the right arm to pick up the green bottle with indented base in the correct orientation",
+    "Lift the medium green bottle with capped neck from the table without mentioning the arm.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Lift the smooth green plastic bottle from the table with the right arm",
+    "Use the right arm to hold the bottle with narrow top from the table",
+    "Grab the handheld green bottle and lift it upward from the table.",
+    "Use the correct arm to pick up the bottle with narrow top.",
+    "Lift the green bottle with indented base from the table upright",
+    "Grab the bottle with ridges near base from the table and hold it head-up.",
+    "Pick the handheld green bottle upright from the table",
+    "Grab the bottle with rounded neck head-up using the right arm from the table.",
+    "Locate the bottle with rounded neck and lift it upright with the right arm.",
+    "Grab the green bottle with indented base from the table with the right arm",
+    "Take the handheld green bottle from the table and keep upright",
+    "Hold the plastic bottle upright after lifting with the right arm",
+    "Hold the medium green bottle head-up after lifting it.",
+    "Secure the bottle with ridges near base upright with the right arm",
+    "Grab the plastic bottle and lift it upright",
+    "Raise the plastic bottle from the table using the correct arm, the right arm.",
+    "Pick up the medium-sized green bottle from the table using the right arm.",
+    "Grab the bottle with ridges near base and lift it into a head-up position",
+    "Using the right arm, pick the smooth green plastic bottle upright",
+    "Lift the medium green bottle with capped neck using the right arm and hold upright",
+    "Use the right arm to grab and lift the bottle with rounded neck head-up.",
+    "Find the smooth green bottle on the table and raise it using the right arm.",
+    "Pick the bottle with white printed label and keep it upright",
+    "Hold the medium green bottle with capped neck upright from the table",
+    "Lift the bottle with narrow top upright carefully using the right arm",
+    "Pick the bottle with ridges near base head-up and hold it steady.",
+    "Use the right arm to lift the medium green bottle head-up",
+    "Position the medium green bottle head-up and lift it",
+    "Lift the medium green bottle with capped neck head-up from the table.",
+    "Pick up the plastic bottle upright from the table",
+    "Utilize the right arm to lift the plastic bottle while keeping it head-up.",
+    "Lift the bottle with rounded neck off the table and hold it upright.",
+    "Lift the bottle with narrow top from the table and secure upright",
+    "Pick the bottle with ridges near base up with the right arm ensuring it stays head-up.",
+    "Carefully grab the medium-sized green bottle head-up",
+    "Identify the medium green bottle and grab it with the right arm",
+    "Lift the bottle the bottle with rounded neck headup from the table",
+    "Lift the bottle the bottle with ridges near base up from the table",
+    "Use the right arm to pick up the bottle with narrow top from the table.",
+    "Raise the bottle with narrow top in a head-up position",
+    "Pick the green bottle with indented base head-up using the right arm",
+    "Lift the bottle with narrow top head-up from the table",
+    "Grab the bottle with white printed label and lift it with the right arm",
+    "Grab the smooth green bottle with the right arm in a head-up way",
+    "Use the right arm to pick the bottle with white printed label up and keep it head-up.",
+    "Lift the smooth green plastic bottle ensuring it remains upright.",
+    "Pick up the smooth green bottle from the table carefully."
+  ],
+  "unseen": [
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the right arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the right arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized green bottle from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the smooth green bottle head-up.",
+    "Lift the bottle with white printed label from the table and secure upright",
+    "Position the handheld green bottle head-up and lift it",
+    "Raise the bottle with white printed label in a head-up position",
+    "Use the correct arm to pick up the medium green bottle.",
+    "Grab the bottle with rounded neck and lift it into a head-up position",
+    "Using the left arm, pick the medium green bottle upright",
+    "Pick up the bottle with rounded neck upright from the table",
+    "Pick the green bottle with indented base and keep it upright",
+    "Lift the bottle the medium-sized green bottle headup from the table",
+    "Secure the bottle with narrow top upright with the left arm",
+    "Lift the smooth green plastic bottle from the table upright",
+    "Pick the handheld green bottle upright from the table",
+    "Find the smooth green bottle on the table and raise it using the left arm.",
+    "Pick the medium green bottle upright from the table",
+    "Lift the bottle the bottle with narrow top up from the table",
+    "Grab the bottle with white printed label head-up using the left arm from the table.",
+    "Pick the smooth green bottle up with the left arm ensuring it stays head-up.",
+    "Pick up the bottle with ridges near base from the table carefully.",
+    "Identify the plastic bottle and grab it with the left arm",
+    "Use the left arm to pick up the plastic bottle in the correct orientation",
+    "Grab the green bottle with indented base and lift it upright",
+    "Grab the bottle with ridges near base from the table with the left arm",
+    "Utilize the left arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Grab the bottle with rounded neck and lift it with the left arm",
+    "Use the left arm to pick up the green bottle with indented base from the table.",
+    "Pick the medium green bottle with capped neck head-up and hold it steady.",
+    "Raise the medium green bottle with capped neck from the table using the correct arm, the left arm.",
+    "Lift the handheld green bottle ensuring it remains upright.",
+    "Lift the plastic bottle upright carefully using the left arm",
+    "Lift the green bottle with indented base off the table and hold it upright.",
+    "Lift the medium green bottle with capped neck head-up from the table",
+    "Lift the bottle with ridges near base head-up from the table.",
+    "Pick up the green bottle with indented base from the table using the left arm.",
+    "Hold the bottle with ridges near base upright after lifting with the left arm",
+    "Use the left arm to pick the bottle with narrow top up and keep it head-up.",
+    "Lift the medium-sized green bottle from the table with the left arm",
+    "Take the bottle with rounded neck from the table and keep upright",
+    "Grab the smooth green bottle from the table and hold it head-up.",
+    "Grab the bottle with ridges near base with the left arm in a head-up way",
+    "Use the left arm to hold the plastic bottle from the table",
+    "Pick the bottle with rounded neck head-up using the right arm",
+    "Hold the smooth green plastic bottle head-up after lifting it.",
+    "Use the left arm to lift the handheld green bottle head-up",
+    "Hold the green bottle with indented base upright from the table",
+    "Lift the green bottle with indented base using the left arm and hold upright",
+    "Carefully grab the bottle with white printed label head-up",
+    "Locate the medium green bottle and lift it upright with the left arm.",
+    "Grab the green bottle with indented base and lift it upward from the table.",
+    "Lift the medium green bottle with capped neck from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Lift the medium green bottle with capped neck from the table and secure upright",
+    "Position the bottle with white printed label head-up and lift it",
+    "Raise the medium green bottle in a head-up position",
+    "Use the correct arm to pick up the bottle with ridges near base.",
+    "Grab the medium green bottle and lift it into a head-up position",
+    "Using the left arm, pick the bottle with ridges near base upright",
+    "Pick up the bottle with narrow top upright from the table",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Lift the bottle the bottle with white printed label headup from the table",
+    "Secure the handheld green bottle upright with the left arm",
+    "Lift the green bottle with indented base from the table upright",
+    "Pick the medium-sized green bottle upright from the table",
+    "Find the bottle with rounded neck on the table and raise it using the left arm.",
+    "Pick the bottle with ridges near base upright from the table",
+    "Lift the bottle the handheld green bottle up from the table",
+    "Grab the smooth green bottle head-up using the left arm from the table.",
+    "Pick the smooth green bottle up with the left arm ensuring it stays head-up.",
+    "Pick up the smooth green bottle from the table carefully.",
+    "Identify the medium green bottle with capped neck and grab it with the left arm",
+    "Use the left arm to pick up the bottle with narrow top in the correct orientation",
+    "Grab the bottle with narrow top and lift it upright",
+    "Grab the smooth green bottle from the table with the left arm",
+    "Utilize the left arm to lift the medium green bottle with capped neck while keeping it head-up.",
+    "Grab the bottle with white printed label and lift it with the left arm",
+    "Use the left arm to pick up the smooth green plastic bottle from the table.",
+    "Pick the medium green bottle with capped neck head-up and hold it steady.",
+    "Raise the handheld green bottle from the table using the correct arm, the left arm.",
+    "Lift the bottle with ridges near base ensuring it remains upright.",
+    "Lift the medium green bottle with capped neck upright carefully using the left arm",
+    "Lift the medium green bottle off the table and hold it upright.",
+    "Lift the medium green bottle head-up from the table",
+    "Lift the bottle with white printed label head-up from the table.",
+    "Pick up the green bottle with indented base from the table using the left arm.",
+    "Hold the medium green bottle upright after lifting with the left arm",
+    "Use the left arm to pick the bottle with white printed label up and keep it head-up.",
+    "Lift the medium-sized green bottle from the table with the left arm",
+    "Take the bottle with narrow top from the table and keep upright",
+    "Grab the medium-sized green bottle from the table and hold it head-up.",
+    "Grab the handheld green bottle with the left arm in a head-up way",
+    "Use the left arm to hold the bottle with ridges near base from the table",
+    "Pick the medium-sized green bottle head-up using the right arm",
+    "Hold the smooth green plastic bottle head-up after lifting it.",
+    "Use the left arm to lift the green bottle with indented base head-up",
+    "Hold the plastic bottle upright from the table",
+    "Lift the bottle with white printed label using the left arm and hold upright",
+    "Carefully grab the smooth green bottle head-up",
+    "Locate the plastic bottle and lift it upright with the left arm.",
+    "Grab the smooth green bottle and lift it upward from the table."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to hold the hand-sized soda bottle from the table",
+    "Lift the narrow-necked bottle from the table upright",
+    "Pick the medium dark brown bottle head-up using the right arm",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Use the left arm to pick up the red-capped bottle in the correct orientation",
+    "Pick up the long thin bottle upright from the table",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Lift the narrow-necked bottle using the left arm and hold upright",
+    "Lift the smooth bottle with red lid upright carefully using the left arm",
+    "Grab the long thin bottle and lift it upright",
+    "Identify the hand-sized soda bottle and grab it with the left arm",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Use the left arm to pick up the brown bottle with red label from the table.",
+    "Raise the long thin bottle in a head-up position",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Pick the long thin bottle upright from the table",
+    "Hold the narrow-necked bottle head-up after lifting it.",
+    "Lift the Coca-Cola bottle from the table without mentioning the arm.",
+    "Find the red-capped bottle on the table and raise it using the left arm.",
+    "Raise the medium dark brown bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Grab the smooth bottle with red lid and lift it with the left arm",
+    "Lift the narrow-necked bottle head-up from the table",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Grab the dark drink bottle with logo from the table with the left arm",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Grab the brown bottle with red label head-up using the left arm from the table.",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Position the plastic drink bottle head-up and lift it",
+    "Utilize the left arm to lift the red-capped bottle while keeping it head-up.",
+    "Grab the narrow-necked bottle with the left arm in a head-up way",
+    "Lift the red-capped bottle from the table with the left arm",
+    "Locate the medium dark brown bottle and lift it upright with the left arm.",
+    "Hold the bottle with ridges on bottom upright after lifting with the left arm",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Use the left arm to grab and lift the red-capped bottle head-up.",
+    "Pick the red-capped bottle up with the left arm ensuring it stays head-up.",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Pick up the narrow-necked bottle from the table using the left arm.",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Secure the brown bottle with red label upright with the left arm",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Hold the narrow-necked bottle upright from the table",
+    "Lift the bottle the smooth bottle with red lid headup from the table",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Use the left arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Using the left arm, pick the brown bottle with red label upright",
+    "Pick the long thin bottle upright from the table",
+    "Use the left arm to hold the bottle with white neck and red top from the table",
+    "Lift the brown bottle with red label from the table upright",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Use the left arm to pick up the long thin bottle in the correct orientation",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Lift the dark drink bottle with logo using the left arm and hold upright",
+    "Lift the plastic drink bottle upright carefully using the left arm",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Identify the dark drink bottle with logo and grab it with the left arm",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Use the left arm to pick up the hand-sized soda bottle from the table.",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Pick the brown bottle with red label upright from the table",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Find the hand-sized soda bottle on the table and raise it using the left arm.",
+    "Raise the bottle with white neck and red top from the table using the correct arm, the left arm.",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Grab the bottle with ridges on bottom and lift it with the left arm",
+    "Lift the red-capped bottle head-up from the table",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Grab the dark drink bottle with logo from the table with the left arm",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Grab the long thin bottle head-up using the left arm from the table.",
+    "Grab the bottle with white neck and red top and lift it into a head-up position",
+    "Position the medium dark brown bottle head-up and lift it",
+    "Utilize the left arm to lift the brown bottle with red label while keeping it head-up.",
+    "Grab the smooth bottle with red lid with the left arm in a head-up way",
+    "Lift the Coca-Cola bottle from the table with the left arm",
+    "Locate the smooth bottle with red lid and lift it upright with the left arm.",
+    "Hold the Coca-Cola bottle upright after lifting with the left arm",
+    "Lift the dark drink bottle with logo off the table and hold it upright.",
+    "Use the left arm to grab and lift the plastic drink bottle head-up.",
+    "Pick the long thin bottle up with the left arm ensuring it stays head-up.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Pick up the medium dark brown bottle from the table using the left arm.",
+    "Lift the bottle the brown bottle with red label up from the table",
+    "Secure the narrow-necked bottle upright with the left arm",
+    "Pick the long thin bottle and keep it upright",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Use the left arm to pick the smooth bottle with red lid up and keep it head-up.",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Pick the hand-sized soda bottle upright from the table"
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the brown bottle with red label upright after lifting with the right arm",
+    "Pick the red-capped bottle and keep it upright",
+    "Using the right arm, pick the plastic drink bottle upright",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Carefully grab the long thin bottle head-up",
+    "Use the right arm to grab and lift the smooth bottle with red lid head-up.",
+    "Grab the narrow-necked bottle head-up using the right arm from the table.",
+    "Pick the red-capped bottle upright from the table",
+    "Lift the bottle the long thin bottle up from the table",
+    "Pick the dark drink bottle with logo up with the right arm ensuring it stays head-up.",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Secure the narrow-necked bottle upright with the right arm",
+    "Find the brown bottle with red label on the table and raise it using the right arm.",
+    "Use the right arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Lift the brown bottle with red label from the table without mentioning the arm.",
+    "Use the right arm to hold the hand-sized soda bottle from the table",
+    "Use the right arm to pick up the medium dark brown bottle from the table.",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Pick up the medium dark brown bottle from the table using the right arm.",
+    "Grab the Coca-Cola bottle with the right arm in a head-up way",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Raise the medium dark brown bottle from the table using the correct arm, the right arm.",
+    "Lift the narrow-necked bottle from the table upright",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Lift the hand-sized soda bottle from the table with the right arm",
+    "Use the right arm to lift the bottle with white neck and red top head-up",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Grab the narrow-necked bottle from the table with the right arm",
+    "Utilize the right arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Lift the plastic drink bottle head-up from the table",
+    "Lift the plastic drink bottle upright carefully using the right arm",
+    "Hold the brown bottle with red label upright from the table",
+    "Locate the hand-sized soda bottle and lift it upright with the right arm.",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Lift the red-capped bottle using the right arm and hold upright",
+    "Pick up the plastic drink bottle upright from the table",
+    "Grab the smooth bottle with red lid and lift it with the right arm",
+    "Raise the plastic drink bottle in a head-up position",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Lift the red-capped bottle head-up from the table.",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Pick up the plastic drink bottle from the table carefully.",
+    "Lift the bottle the red-capped bottle headup from the table",
+    "Pick the bottle with ridges on bottom head-up and hold it steady.",
+    "Use the right arm to pick up the Coca-Cola bottle in the correct orientation",
+    "Hold the long thin bottle upright after lifting with the right arm",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Using the right arm, pick the Coca-Cola bottle upright",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Carefully grab the red-capped bottle head-up",
+    "Use the right arm to grab and lift the brown bottle with red label head-up.",
+    "Grab the hand-sized soda bottle head-up using the right arm from the table.",
+    "Pick the plastic drink bottle upright from the table",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Pick the narrow-necked bottle up with the right arm ensuring it stays head-up.",
+    "Identify the narrow-necked bottle and grab it with the right arm",
+    "Pick the long thin bottle upright from the table",
+    "Secure the brown bottle with red label upright with the right arm",
+    "Find the bottle with ridges on bottom on the table and raise it using the right arm.",
+    "Use the right arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Use the right arm to hold the medium dark brown bottle from the table",
+    "Use the right arm to pick up the long thin bottle from the table.",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Grab the plastic drink bottle and lift it upright",
+    "Pick up the plastic drink bottle from the table using the right arm.",
+    "Grab the long thin bottle with the right arm in a head-up way",
+    "Position the medium dark brown bottle head-up and lift it",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the right arm.",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Lift the brown bottle with red label from the table with the right arm",
+    "Use the right arm to lift the bottle with ridges on bottom head-up",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Grab the bottle with white neck and red top from the table with the right arm",
+    "Utilize the right arm to lift the brown bottle with red label while keeping it head-up.",
+    "Lift the dark drink bottle with logo head-up from the table",
+    "Lift the smooth bottle with red lid upright carefully using the right arm",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Locate the bottle with ridges on bottom and lift it upright with the right arm.",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Pick the dark drink bottle with logo head-up using the right arm",
+    "Lift the dark drink bottle with logo from the table and secure upright",
+    "Lift the long thin bottle using the right arm and hold upright",
+    "Pick up the plastic drink bottle upright from the table",
+    "Grab the bottle with white neck and red top and lift it with the right arm",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Pick up the red-capped bottle from the table carefully.",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Use the right arm to pick up the red-capped bottle in the correct orientation"
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the hand-sized soda bottle upright with the left arm",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Pick the plastic drink bottle up with the left arm ensuring it stays head-up.",
+    "Locate the bottle with white neck and red top and lift it upright with the left arm.",
+    "Grab the long thin bottle and lift it with the left arm",
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Use the left arm to lift the bottle with ridges on bottom head-up",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Hold the long thin bottle upright from the table",
+    "Use the left arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Identify the bottle with white neck and red top and grab it with the left arm",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the smooth bottle with red lid head-up.",
+    "Lift the dark drink bottle with logo using the left arm and hold upright",
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Use the left arm to pick up the dark drink bottle with logo from the table.",
+    "Lift the narrow-necked bottle head-up from the table.",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the left arm.",
+    "Lift the bottle the narrow-necked bottle up from the table",
+    "Hold the medium dark brown bottle upright after lifting with the left arm",
+    "Position the red-capped bottle head-up and lift it",
+    "Pick up the hand-sized soda bottle upright from the table",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Lift the dark drink bottle with logo off the table and hold it upright.",
+    "Lift the smooth bottle with red lid from the table upright",
+    "Using the left arm, pick the dark drink bottle with logo upright",
+    "Lift the smooth bottle with red lid from the table and secure upright",
+    "Use the left arm to pick the smooth bottle with red lid up and keep it head-up.",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Utilize the left arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Use the left arm to hold the dark drink bottle with logo from the table",
+    "Lift the hand-sized soda bottle from the table with the left arm",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Find the plastic drink bottle on the table and raise it using the left arm.",
+    "Lift the red-capped bottle head-up from the table",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Lift the plastic drink bottle upright carefully using the left arm",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Secure the bottle with white neck and red top upright with the left arm",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Pick the narrow-necked bottle up with the left arm ensuring it stays head-up.",
+    "Locate the Coca-Cola bottle and lift it upright with the left arm.",
+    "Grab the red-capped bottle and lift it with the left arm",
+    "Pick up the plastic drink bottle from the table carefully.",
+    "Use the left arm to lift the red-capped bottle head-up",
+    "Grab the bottle with white neck and red top head-up using the left arm from the table.",
+    "Pick the plastic drink bottle upright from the table",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Use the left arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Identify the bottle with ridges on bottom and grab it with the left arm",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the brown bottle with red label head-up.",
+    "Lift the bottle with ridges on bottom using the left arm and hold upright",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Use the left arm to pick up the dark drink bottle with logo from the table.",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Raise the plastic drink bottle from the table using the correct arm, the left arm.",
+    "Lift the bottle the dark drink bottle with logo up from the table",
+    "Hold the smooth bottle with red lid upright after lifting with the left arm",
+    "Position the red-capped bottle head-up and lift it",
+    "Pick up the dark drink bottle with logo upright from the table",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Lift the narrow-necked bottle from the table upright",
+    "Using the left arm, pick the medium dark brown bottle upright",
+    "Lift the long thin bottle from the table and secure upright",
+    "Use the left arm to pick the long thin bottle up and keep it head-up.",
+    "Pick the red-capped bottle head-up using the right arm",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Pick up the smooth bottle with red lid from the table using the left arm.",
+    "Utilize the left arm to lift the Coca-Cola bottle while keeping it head-up.",
+    "Use the left arm to hold the smooth bottle with red lid from the table",
+    "Lift the dark drink bottle with logo from the table with the left arm",
+    "Grab the Coca-Cola bottle and lift it into a head-up position",
+    "Grab the dark drink bottle with logo from the table with the left arm",
+    "Grab the smooth bottle with red lid and lift it upright",
+    "Grab the dark drink bottle with logo with the left arm in a head-up way",
+    "Grab the Coca-Cola bottle from the table and hold it head-up.",
+    "Find the medium dark brown bottle on the table and raise it using the left arm.",
+    "Lift the red-capped bottle head-up from the table",
+    "Pick the hand-sized soda bottle and keep it upright",
+    "Lift the plastic drink bottle upright carefully using the left arm",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the bottle the plastic drink bottle headup from the table"
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the correct arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Pick up the long thin bottle from the table carefully.",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Use the left arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Identify the medium dark brown bottle and grab it with the left arm",
+    "Find the medium dark brown bottle on the table and raise it using the left arm.",
+    "Secure the plastic drink bottle upright with the left arm",
+    "Raise the long thin bottle from the table using the correct arm, the left arm.",
+    "Using the left arm, pick the dark drink bottle with logo upright",
+    "Locate the narrow-necked bottle and lift it upright with the left arm.",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Lift the bottle the red-capped bottle headup from the table",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Lift the long thin bottle from the table upright",
+    "Pick the dark drink bottle with logo head-up and hold it steady.",
+    "Grab the hand-sized soda bottle from the table and hold it head-up.",
+    "Use the left arm to pick up the dark drink bottle with logo from the table.",
+    "Use the left arm to hold the brown bottle with red label from the table",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Hold the narrow-necked bottle upright from the table",
+    "Hold the bottle with ridges on bottom upright after lifting with the left arm",
+    "Pick the plastic drink bottle upright from the table",
+    "Utilize the left arm to lift the medium dark brown bottle while keeping it head-up.",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Use the left arm to pick the bottle with white neck and red top up and keep it head-up.",
+    "Use the left arm to lift the bottle with ridges on bottom head-up",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Pick the long thin bottle and keep it upright",
+    "Pick the smooth bottle with red lid up with the left arm ensuring it stays head-up.",
+    "Lift the bottle with white neck and red top from the table with the left arm",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Grab the hand-sized soda bottle from the table with the left arm",
+    "Pick up the narrow-necked bottle from the table using the left arm.",
+    "Pick the long thin bottle upright from the table",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Lift the narrow-necked bottle using the left arm and hold upright",
+    "Use the left arm to grab and lift the plastic drink bottle head-up.",
+    "Carefully grab the plastic drink bottle head-up",
+    "Grab the hand-sized soda bottle and lift it with the left arm",
+    "Lift the Coca-Cola bottle head-up from the table",
+    "Lift the smooth bottle with red lid upright carefully using the left arm",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Lift the Coca-Cola bottle from the table and secure upright",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Lift the dark drink bottle with logo off the table and hold it upright.",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Position the long thin bottle head-up and lift it",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Use the left arm to pick up the bottle with white neck and red top in the correct orientation",
+    "Identify the plastic drink bottle and grab it with the left arm",
+    "Find the hand-sized soda bottle on the table and raise it using the left arm.",
+    "Secure the Coca-Cola bottle upright with the left arm",
+    "Raise the bottle with ridges on bottom from the table using the correct arm, the left arm.",
+    "Using the left arm, pick the narrow-necked bottle upright",
+    "Locate the bottle with ridges on bottom and lift it upright with the left arm.",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Grab the medium dark brown bottle head-up using the left arm from the table.",
+    "Lift the bottle the smooth bottle with red lid headup from the table",
+    "Take the Coca-Cola bottle from the table and keep upright",
+    "Lift the bottle with white neck and red top from the table upright",
+    "Pick the red-capped bottle head-up and hold it steady.",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Use the left arm to pick up the dark drink bottle with logo from the table.",
+    "Use the left arm to hold the hand-sized soda bottle from the table",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Lift the bottle the brown bottle with red label up from the table",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Utilize the left arm to lift the Coca-Cola bottle while keeping it head-up.",
+    "Grab the bottle with white neck and red top with the left arm in a head-up way",
+    "Use the left arm to pick the red-capped bottle up and keep it head-up.",
+    "Use the left arm to lift the brown bottle with red label head-up",
+    "Pick the long thin bottle head-up using the right arm",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Pick the bottle with ridges on bottom up with the left arm ensuring it stays head-up.",
+    "Lift the bottle with ridges on bottom from the table with the left arm",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Pick up the brown bottle with red label upright from the table",
+    "Lift the bottle with white neck and red top using the left arm and hold upright",
+    "Use the left arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Grab the dark drink bottle with logo and lift it with the left arm",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Lift the narrow-necked bottle upright carefully using the left arm",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Grab the Coca-Cola bottle and lift it upright"
+  ],
+  "unseen": [
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the brown bottle on the table and raise it."
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic drink bottle from the table with the left arm",
+    "Use the left arm to lift the bottle with ridges on bottom head-up",
+    "Grab the Coca-Cola bottle head-up using the left arm from the table.",
+    "Use the left arm to grab and lift the dark drink bottle with logo head-up.",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Pick up the bottle with white neck and red top from the table using the left arm.",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Grab the plastic drink bottle with the left arm in a head-up way",
+    "Grab the bottle with ridges on bottom and lift it upward from the table.",
+    "Use the left arm to pick the brown bottle with red label up and keep it head-up.",
+    "Pick up the red-capped bottle upright from the table",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Lift the brown bottle with red label using the left arm and hold upright",
+    "Raise the bottle with ridges on bottom from the table using the correct arm, the left arm.",
+    "Use the left arm to hold the red-capped bottle from the table",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Lift the bottle with white neck and red top from the table upright",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Use the left arm to pick up the red-capped bottle in the correct orientation",
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Utilize the left arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Carefully grab the red-capped bottle head-up",
+    "Use the left arm to pick up the bottle with white neck and red top from the table.",
+    "Grab the narrow-necked bottle and lift it upright",
+    "Raise the brown bottle with red label in a head-up position",
+    "Find the bottle with ridges on bottom on the table and raise it using the left arm.",
+    "Grab the bottle with white neck and red top and lift it into a head-up position",
+    "Lift the dark drink bottle with logo from the table and secure upright",
+    "Pick the narrow-necked bottle upright from the table",
+    "Using the left arm, pick the narrow-necked bottle upright",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Identify the medium dark brown bottle and grab it with the left arm",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Grab the red-capped bottle and lift it with the left arm",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Secure the long thin bottle upright with the left arm",
+    "Position the plastic drink bottle head-up and lift it",
+    "Pick the medium dark brown bottle and keep it upright",
+    "Locate the dark drink bottle with logo and lift it upright with the left arm.",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Lift the medium dark brown bottle upright carefully using the left arm",
+    "Pick the narrow-necked bottle up with the left arm ensuring it stays head-up.",
+    "Lift the long thin bottle from the table with the left arm",
+    "Use the left arm to lift the bottle with ridges on bottom head-up",
+    "Grab the hand-sized soda bottle head-up using the left arm from the table.",
+    "Use the left arm to grab and lift the hand-sized soda bottle head-up.",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Lift the red-capped bottle head-up from the table.",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Pick up the narrow-necked bottle from the table using the left arm.",
+    "Pick the dark drink bottle with logo head-up and hold it steady.",
+    "Grab the bottle with white neck and red top with the left arm in a head-up way",
+    "Grab the dark drink bottle with logo and lift it upward from the table.",
+    "Use the left arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Pick up the long thin bottle upright from the table",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Lift the bottle with white neck and red top using the left arm and hold upright",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to hold the red-capped bottle from the table",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Pick up the hand-sized soda bottle from the table carefully.",
+    "Use the left arm to pick up the medium dark brown bottle in the correct orientation",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Utilize the left arm to lift the Coca-Cola bottle while keeping it head-up.",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Use the left arm to pick up the bottle with white neck and red top from the table.",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Find the dark drink bottle with logo on the table and raise it using the left arm.",
+    "Grab the red-capped bottle and lift it into a head-up position",
+    "Lift the smooth bottle with red lid from the table and secure upright",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Using the left arm, pick the plastic drink bottle upright",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Grab the narrow-necked bottle from the table with the left arm",
+    "Identify the dark drink bottle with logo and grab it with the left arm",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Grab the plastic drink bottle and lift it with the left arm",
+    "Hold the Coca-Cola bottle head-up after lifting it.",
+    "Secure the dark drink bottle with logo upright with the left arm",
+    "Position the medium dark brown bottle head-up and lift it",
+    "Pick the Coca-Cola bottle and keep it upright",
+    "Locate the Coca-Cola bottle and lift it upright with the left arm.",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Pick the brown bottle with red label up with the left arm ensuring it stays head-up."
+  ],
+  "unseen": [
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the plastic drink bottle upright with the left arm",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Pick the dark drink bottle with logo head-up and hold it steady.",
+    "Grab the narrow-necked bottle from the table with the left arm",
+    "Lift the red-capped bottle head-up from the table.",
+    "Pick the red-capped bottle upright from the table",
+    "Hold the medium dark brown bottle upright from the table",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Lift the brown bottle with red label from the table without mentioning the arm.",
+    "Grab the smooth bottle with red lid head-up using the left arm from the table.",
+    "Pick the medium dark brown bottle up with the left arm ensuring it stays head-up.",
+    "Lift the Coca-Cola bottle from the table and secure upright",
+    "Lift the bottle the dark drink bottle with logo up from the table",
+    "Position the dark drink bottle with logo head-up and lift it",
+    "Use the left arm to grab and lift the bottle with white neck and red top head-up.",
+    "Lift the hand-sized soda bottle from the table upright",
+    "Utilize the left arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Using the left arm, pick the hand-sized soda bottle upright",
+    "Pick the medium dark brown bottle upright from the table",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Lift the red-capped bottle upright carefully using the left arm",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Locate the red-capped bottle and lift it upright with the left arm.",
+    "Use the correct arm to pick up the narrow-necked bottle.",
+    "Hold the medium dark brown bottle upright after lifting with the left arm",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Use the left arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Raise the long thin bottle from the table using the correct arm, the left arm.",
+    "Lift the Coca-Cola bottle ensuring it remains upright.",
+    "Use the left arm to pick up the hand-sized soda bottle from the table.",
+    "Grab the dark drink bottle with logo with the left arm in a head-up way",
+    "Pick up the bottle with ridges on bottom from the table using the left arm.",
+    "Identify the bottle with white neck and red top and grab it with the left arm",
+    "Use the left arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Use the left arm to hold the brown bottle with red label from the table",
+    "Carefully grab the plastic drink bottle head-up",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Find the plastic drink bottle on the table and raise it using the left arm.",
+    "Lift the dark drink bottle with logo from the table with the left arm",
+    "Grab the bottle with white neck and red top and lift it into a head-up position",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Secure the bottle with ridges on bottom upright with the left arm",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Use the left arm to lift the medium dark brown bottle head-up",
+    "Pick the dark drink bottle with logo head-up and hold it steady.",
+    "Grab the medium dark brown bottle from the table with the left arm",
+    "Lift the narrow-necked bottle head-up from the table.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Raise the long thin bottle in a head-up position",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Grab the bottle with white neck and red top head-up using the left arm from the table.",
+    "Pick the hand-sized soda bottle up with the left arm ensuring it stays head-up.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Position the medium dark brown bottle head-up and lift it",
+    "Use the left arm to grab and lift the long thin bottle head-up.",
+    "Lift the red-capped bottle from the table upright",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Using the left arm, pick the brown bottle with red label upright",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Pick up the dark drink bottle with logo from the table carefully.",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Lift the dark drink bottle with logo off the table and hold it upright.",
+    "Locate the long thin bottle and lift it upright with the left arm.",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Hold the medium dark brown bottle upright after lifting with the left arm",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Lift the bottle the medium dark brown bottle headup from the table",
+    "Grab the narrow-necked bottle and lift it upright",
+    "Use the left arm to pick up the plastic drink bottle in the correct orientation",
+    "Lift the dark drink bottle with logo head-up from the table",
+    "Raise the plastic drink bottle from the table using the correct arm, the left arm.",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Use the left arm to pick up the brown bottle with red label from the table.",
+    "Grab the plastic drink bottle with the left arm in a head-up way",
+    "Pick up the bottle with white neck and red top from the table using the left arm.",
+    "Identify the hand-sized soda bottle and grab it with the left arm",
+    "Use the left arm to pick the plastic drink bottle up and keep it head-up.",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Grab the medium dark brown bottle and lift it with the left arm",
+    "Use the left arm to hold the medium dark brown bottle from the table",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Find the Coca-Cola bottle on the table and raise it using the left arm.",
+    "Lift the hand-sized soda bottle from the table with the left arm",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Grab the bottle with ridges on bottom and lift it upward from the table."
+  ],
+  "unseen": [
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up."
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Grab the long thin bottle and lift it with the left arm",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Hold the red-capped bottle upright after lifting with the left arm",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Lift the smooth bottle with red lid from the table upright",
+    "Lift the bottle with ridges on bottom using the left arm and hold upright",
+    "Lift the bottle the narrow-necked bottle headup from the table",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Lift the long thin bottle head-up from the table",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Find the bottle with ridges on bottom on the table and raise it using the left arm.",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Grab the dark drink bottle with logo with the left arm in a head-up way",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Position the hand-sized soda bottle head-up and lift it",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Identify the bottle with ridges on bottom and grab it with the left arm",
+    "Secure the medium dark brown bottle upright with the left arm",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Lift the bottle with ridges on bottom from the table with the left arm",
+    "Pick the brown bottle with red label up with the left arm ensuring it stays head-up.",
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Grab the Coca-Cola bottle head-up using the left arm from the table.",
+    "Lift the bottle the red-capped bottle up from the table",
+    "Use the left arm to lift the hand-sized soda bottle head-up",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Lift the dark drink bottle with logo upright carefully using the left arm",
+    "Raise the medium dark brown bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to hold the medium dark brown bottle from the table",
+    "Pick the plastic drink bottle and keep it upright",
+    "Use the left arm to pick up the plastic drink bottle in the correct orientation",
+    "Locate the medium dark brown bottle and lift it upright with the left arm.",
+    "Lift the dark drink bottle with logo from the table and secure upright",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Raise the red-capped bottle in a head-up position",
+    "Use the left arm to pick the dark drink bottle with logo up and keep it head-up.",
+    "Take the brown bottle with red label from the table and keep upright",
+    "Grab the long thin bottle and lift it with the left arm",
+    "Hold the medium dark brown bottle head-up after lifting it.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Pick up the long thin bottle upright from the table",
+    "Hold the bottle with white neck and red top upright after lifting with the left arm",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Lift the long thin bottle from the table upright",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Utilize the left arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Find the plastic drink bottle on the table and raise it using the left arm.",
+    "Pick the narrow-necked bottle upright from the table",
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Pick up the long thin bottle from the table using the left arm.",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Position the dark drink bottle with logo head-up and lift it",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Use the left arm to pick up the plastic drink bottle from the table.",
+    "Identify the Coca-Cola bottle and grab it with the left arm",
+    "Secure the plastic drink bottle upright with the left arm",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Lift the brown bottle with red label from the table with the left arm",
+    "Pick the dark drink bottle with logo up with the left arm ensuring it stays head-up.",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Use the left arm to lift the Coca-Cola bottle head-up",
+    "Grab the hand-sized soda bottle and lift it into a head-up position",
+    "Lift the smooth bottle with red lid upright carefully using the left arm",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to hold the smooth bottle with red lid from the table",
+    "Pick the medium dark brown bottle and keep it upright",
+    "Use the left arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Locate the narrow-necked bottle and lift it upright with the left arm.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Pick the dark drink bottle with logo head-up using the right arm",
+    "Using the left arm, pick the medium dark brown bottle upright",
+    "Hold the narrow-necked bottle upright from the table",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Use the left arm to pick the smooth bottle with red lid up and keep it head-up."
+  ],
+  "unseen": [
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the brown bottle"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the correct arm to pick up the green bottle with indented base.",
+    "Utilize the right arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Secure the green bottle with indented base upright with the right arm",
+    "Lift the medium-sized green bottle head-up from the table.",
+    "Grab the medium green bottle with capped neck and lift it with the right arm",
+    "Find the smooth green bottle on the table and raise it using the right arm.",
+    "Pick up the plastic bottle from the table using the right arm.",
+    "Lift the handheld green bottle head-up from the table",
+    "Lift the medium green bottle with capped neck using the right arm and hold upright",
+    "Use the right arm to pick up the handheld green bottle in the correct orientation",
+    "Take the bottle with rounded neck from the table and keep upright",
+    "Raise the smooth green plastic bottle from the table using the correct arm, the right arm.",
+    "Use the right arm to lift the smooth green plastic bottle head-up",
+    "Lift the smooth green bottle from the table without mentioning the arm.",
+    "Hold the medium-sized green bottle head-up after lifting it.",
+    "Use the right arm to hold the handheld green bottle from the table",
+    "Locate the smooth green bottle and lift it upright with the right arm.",
+    "Pick the plastic bottle head-up using the right arm",
+    "Lift the bottle with rounded neck ensuring it remains upright.",
+    "Lift the medium-sized green bottle from the table upright",
+    "Pick the handheld green bottle upright from the table",
+    "Position the bottle with rounded neck head-up and lift it",
+    "Identify the smooth green plastic bottle and grab it with the right arm",
+    "Grab the bottle with ridges near base with the right arm in a head-up way",
+    "Lift the smooth green plastic bottle off the table and hold it upright.",
+    "Lift the medium green bottle from the table with the right arm",
+    "Pick the medium green bottle up with the right arm ensuring it stays head-up.",
+    "Grab the medium-sized green bottle and lift it upright",
+    "Pick the smooth green plastic bottle upright from the table",
+    "Hold the medium green bottle with capped neck upright after lifting with the right arm",
+    "Lift the bottle the medium green bottle up from the table",
+    "Use the right arm to pick up the smooth green plastic bottle from the table.",
+    "Grab the bottle with narrow top from the table with the right arm",
+    "Grab the bottle with narrow top head-up using the right arm from the table.",
+    "Pick the plastic bottle head-up and hold it steady.",
+    "Hold the smooth green plastic bottle upright from the table",
+    "Grab the bottle with narrow top from the table and hold it head-up.",
+    "Use the right arm to pick the bottle with white printed label up and keep it head-up.",
+    "Raise the medium green bottle with capped neck in a head-up position",
+    "Pick the bottle with rounded neck and keep it upright",
+    "Carefully grab the medium green bottle with capped neck head-up",
+    "Lift the plastic bottle from the table and secure upright",
+    "Grab the bottle with white printed label and lift it upward from the table.",
+    "Pick up the handheld green bottle from the table carefully.",
+    "Pick up the bottle with white printed label upright from the table",
+    "Use the right arm to grab and lift the smooth green bottle head-up.",
+    "Grab the bottle with white printed label and lift it into a head-up position",
+    "Lift the medium green bottle upright carefully using the right arm",
+    "Lift the bottle the medium-sized green bottle headup from the table",
+    "Using the right arm, pick the bottle with narrow top upright",
+    "Use the correct arm to pick up the bottle with narrow top.",
+    "Utilize the right arm to lift the bottle with ridges near base while keeping it head-up.",
+    "Secure the medium-sized green bottle upright with the right arm",
+    "Lift the smooth green plastic bottle head-up from the table.",
+    "Grab the plastic bottle and lift it with the right arm",
+    "Find the smooth green plastic bottle on the table and raise it using the right arm.",
+    "Pick up the medium-sized green bottle from the table using the right arm.",
+    "Lift the handheld green bottle head-up from the table",
+    "Lift the green bottle with indented base using the right arm and hold upright",
+    "Use the right arm to pick up the bottle with narrow top in the correct orientation",
+    "Take the bottle with rounded neck from the table and keep upright",
+    "Raise the medium-sized green bottle from the table using the correct arm, the right arm.",
+    "Use the right arm to lift the green bottle with indented base head-up",
+    "Lift the medium green bottle from the table without mentioning the arm.",
+    "Hold the bottle with narrow top head-up after lifting it.",
+    "Use the right arm to hold the bottle with white printed label from the table",
+    "Locate the bottle with rounded neck and lift it upright with the right arm.",
+    "Pick the medium green bottle with capped neck head-up using the right arm",
+    "Lift the medium green bottle with capped neck ensuring it remains upright.",
+    "Lift the bottle with rounded neck from the table upright",
+    "Pick the bottle with ridges near base upright from the table",
+    "Position the smooth green bottle head-up and lift it",
+    "Identify the medium green bottle and grab it with the right arm",
+    "Grab the medium-sized green bottle with the right arm in a head-up way",
+    "Lift the bottle with ridges near base off the table and hold it upright.",
+    "Lift the smooth green bottle from the table with the right arm",
+    "Pick the handheld green bottle up with the right arm ensuring it stays head-up.",
+    "Grab the handheld green bottle and lift it upright",
+    "Pick the green bottle with indented base upright from the table",
+    "Hold the smooth green plastic bottle upright after lifting with the right arm",
+    "Lift the bottle the handheld green bottle up from the table",
+    "Use the right arm to pick up the handheld green bottle from the table.",
+    "Grab the handheld green bottle from the table with the right arm",
+    "Grab the smooth green bottle head-up using the right arm from the table.",
+    "Pick the bottle with rounded neck head-up and hold it steady.",
+    "Hold the plastic bottle upright from the table",
+    "Grab the plastic bottle from the table and hold it head-up.",
+    "Use the right arm to pick the bottle with narrow top up and keep it head-up.",
+    "Raise the medium green bottle with capped neck in a head-up position",
+    "Pick the smooth green bottle and keep it upright",
+    "Carefully grab the smooth green plastic bottle head-up",
+    "Lift the green bottle with indented base from the table and secure upright",
+    "Grab the plastic bottle and lift it upward from the table.",
+    "Pick up the green bottle with indented base from the table carefully.",
+    "Pick up the bottle with ridges near base upright from the table",
+    "Use the right arm to grab and lift the medium-sized green bottle head-up.",
+    "Grab the bottle with ridges near base and lift it into a head-up position",
+    "Lift the bottle with white printed label upright carefully using the right arm",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Using the right arm, pick the medium green bottle upright"
+  ],
+  "unseen": [
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle from the table using the right arm.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green bottle from the table using the right arm.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the correct arm to pick up the bottle with white printed label.",
+    "Raise the smooth green plastic bottle in a head-up position",
+    "Pick up the handheld green bottle from the table using the right arm.",
+    "Use the right arm to lift the bottle with narrow top head-up",
+    "Lift the bottle with narrow top from the table and secure upright",
+    "Use the right arm to grab and lift the medium-sized green bottle head-up.",
+    "Grab the medium green bottle and lift it upward from the table.",
+    "Lift the bottle with narrow top from the table upright",
+    "Hold the smooth green plastic bottle upright after lifting with the right arm",
+    "Secure the bottle with white printed label upright with the right arm",
+    "Lift the bottle with rounded neck using the right arm and hold upright",
+    "Use the right arm to hold the medium-sized green bottle from the table",
+    "Grab the medium green bottle with capped neck from the table and hold it head-up.",
+    "Lift the smooth green plastic bottle ensuring it remains upright.",
+    "Pick the medium green bottle and keep it upright",
+    "Grab the medium green bottle with the right arm in a head-up way",
+    "Lift the smooth green bottle head-up from the table",
+    "Carefully grab the smooth green plastic bottle head-up",
+    "Pick up the smooth green bottle upright from the table",
+    "Lift the bottle the bottle with rounded neck up from the table",
+    "Grab the handheld green bottle and lift it upright",
+    "Locate the bottle with narrow top and lift it upright with the right arm.",
+    "Use the right arm to pick the green bottle with indented base up and keep it head-up.",
+    "Grab the plastic bottle and lift it with the right arm",
+    "Using the right arm, pick the medium green bottle upright",
+    "Lift the smooth green bottle upright carefully using the right arm",
+    "Pick the plastic bottle up with the right arm ensuring it stays head-up.",
+    "Grab the bottle with rounded neck and lift it into a head-up position",
+    "Use the right arm to pick up the bottle with ridges near base from the table.",
+    "Pick the medium green bottle head-up using the right arm",
+    "Use the right arm to pick up the plastic bottle in the correct orientation",
+    "Pick up the bottle with narrow top from the table carefully.",
+    "Lift the bottle with rounded neck head-up from the table.",
+    "Identify the handheld green bottle and grab it with the right arm",
+    "Utilize the right arm to lift the handheld green bottle while keeping it head-up.",
+    "Pick the plastic bottle head-up and hold it steady.",
+    "Position the bottle with rounded neck head-up and lift it",
+    "Find the bottle with white printed label on the table and raise it using the right arm.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Grab the green bottle with indented base from the table with the right arm",
+    "Raise the green bottle with indented base from the table using the correct arm, the right arm.",
+    "Hold the plastic bottle head-up after lifting it.",
+    "Lift the bottle the medium green bottle headup from the table",
+    "Grab the medium green bottle with capped neck head-up using the right arm from the table.",
+    "Lift the handheld green bottle from the table with the right arm",
+    "Lift the bottle with ridges near base from the table without mentioning the arm.",
+    "Hold the bottle with narrow top upright from the table",
+    "Pick the medium-sized green bottle upright from the table",
+    "Take the bottle with white printed label from the table and keep upright",
+    "Lift the smooth green plastic bottle off the table and hold it upright.",
+    "Use the correct arm to pick up the medium green bottle.",
+    "Raise the smooth green bottle in a head-up position",
+    "Pick up the medium green bottle from the table using the right arm.",
+    "Use the right arm to lift the bottle with rounded neck head-up",
+    "Lift the bottle with ridges near base from the table and secure upright",
+    "Use the right arm to grab and lift the handheld green bottle head-up.",
+    "Grab the smooth green plastic bottle and lift it upward from the table.",
+    "Lift the medium green bottle with capped neck from the table upright",
+    "Hold the handheld green bottle upright after lifting with the right arm",
+    "Secure the bottle with narrow top upright with the right arm",
+    "Lift the green bottle with indented base using the right arm and hold upright",
+    "Use the right arm to hold the medium green bottle from the table",
+    "Grab the medium-sized green bottle from the table and hold it head-up.",
+    "Lift the bottle with ridges near base ensuring it remains upright.",
+    "Pick the bottle with ridges near base and keep it upright",
+    "Grab the green bottle with indented base with the right arm in a head-up way",
+    "Lift the green bottle with indented base head-up from the table",
+    "Carefully grab the green bottle with indented base head-up",
+    "Pick up the bottle with rounded neck upright from the table",
+    "Lift the bottle the bottle with ridges near base up from the table",
+    "Grab the bottle with narrow top and lift it upright",
+    "Locate the handheld green bottle and lift it upright with the right arm.",
+    "Use the right arm to pick the medium green bottle with capped neck up and keep it head-up.",
+    "Grab the green bottle with indented base and lift it with the right arm",
+    "Using the right arm, pick the smooth green bottle upright",
+    "Lift the green bottle with indented base upright carefully using the right arm",
+    "Pick the medium-sized green bottle up with the right arm ensuring it stays head-up.",
+    "Grab the smooth green plastic bottle and lift it into a head-up position",
+    "Use the right arm to pick up the smooth green bottle from the table.",
+    "Pick the smooth green bottle head-up using the right arm",
+    "Use the right arm to pick up the medium green bottle with capped neck in the correct orientation",
+    "Pick up the smooth green bottle from the table carefully.",
+    "Lift the green bottle with indented base head-up from the table.",
+    "Identify the bottle with ridges near base and grab it with the right arm",
+    "Utilize the right arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Pick the smooth green plastic bottle head-up and hold it steady.",
+    "Position the bottle with rounded neck head-up and lift it",
+    "Find the bottle with narrow top on the table and raise it using the right arm.",
+    "Pick the bottle with white printed label upright from the table",
+    "Grab the green bottle with indented base from the table with the right arm",
+    "Raise the green bottle with indented base from the table using the correct arm, the right arm.",
+    "Hold the plastic bottle head-up after lifting it.",
+    "Lift the bottle the bottle with narrow top headup from the table",
+    "Grab the bottle with narrow top head-up using the right arm from the table.",
+    "Lift the medium green bottle with capped neck from the table with the right arm",
+    "Lift the medium green bottle with capped neck from the table without mentioning the arm.",
+    "Hold the bottle with white printed label upright from the table",
+    "Pick the bottle with rounded neck upright from the table",
+    "Take the bottle with narrow top from the table and keep upright",
+    "Lift the bottle with rounded neck off the table and hold it upright."
+  ],
+  "unseen": [
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle from the table head-up."
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the brown bottle with red label and keep it upright",
+    "Take the Coca-Cola bottle from the table and keep upright",
+    "Use the left arm to grab and lift the long thin bottle head-up.",
+    "Use the left arm to pick up the long thin bottle from the table.",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Hold the narrow-necked bottle upright after lifting with the left arm",
+    "Hold the Coca-Cola bottle head-up after lifting it.",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Lift the bottle the red-capped bottle up from the table",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Lift the long thin bottle from the table upright",
+    "Grab the bottle with ridges on bottom head-up using the left arm from the table.",
+    "Lift the long thin bottle from the table with the left arm",
+    "Grab the Coca-Cola bottle and lift it with the left arm",
+    "Lift the Coca-Cola bottle ensuring it remains upright.",
+    "Use the left arm to hold the red-capped bottle from the table",
+    "Lift the medium dark brown bottle off the table and hold it upright.",
+    "Raise the smooth bottle with red lid from the table using the correct arm, the left arm.",
+    "Lift the narrow-necked bottle upright carefully using the left arm",
+    "Raise the brown bottle with red label in a head-up position",
+    "Pick up the red-capped bottle upright from the table",
+    "Use the left arm to pick the dark drink bottle with logo up and keep it head-up.",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Lift the narrow-necked bottle from the table without mentioning the arm.",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Use the left arm to pick up the red-capped bottle in the correct orientation",
+    "Pick up the narrow-necked bottle from the table using the left arm.",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Lift the narrow-necked bottle head-up from the table.",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Identify the narrow-necked bottle and grab it with the left arm",
+    "Find the bottle with white neck and red top on the table and raise it using the left arm.",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Pick up the dark drink bottle with logo from the table carefully.",
+    "Lift the long thin bottle from the table and secure upright",
+    "Pick the long thin bottle upright from the table",
+    "Pick the Coca-Cola bottle up with the left arm ensuring it stays head-up.",
+    "Locate the medium dark brown bottle and lift it upright with the left arm.",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Secure the narrow-necked bottle upright with the left arm",
+    "Using the left arm, pick the bottle with white neck and red top upright",
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Lift the brown bottle with red label head-up from the table",
+    "Position the bottle with ridges on bottom head-up and lift it",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Utilize the left arm to lift the medium dark brown bottle while keeping it head-up.",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Use the left arm to grab and lift the bottle with white neck and red top head-up.",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Carefully grab the brown bottle with red label head-up",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Lift the medium dark brown bottle using the left arm and hold upright",
+    "Lift the smooth bottle with red lid from the table upright",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Lift the brown bottle with red label from the table with the left arm",
+    "Grab the dark drink bottle with logo and lift it with the left arm",
+    "Lift the smooth bottle with red lid ensuring it remains upright.",
+    "Use the left arm to hold the medium dark brown bottle from the table",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Lift the bottle with ridges on bottom upright carefully using the left arm",
+    "Raise the Coca-Cola bottle in a head-up position",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Use the left arm to pick the plastic drink bottle up and keep it head-up.",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Use the left arm to pick up the brown bottle with red label in the correct orientation",
+    "Pick up the hand-sized soda bottle from the table using the left arm.",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Identify the Coca-Cola bottle and grab it with the left arm",
+    "Find the bottle with ridges on bottom on the table and raise it using the left arm.",
+    "Pick the brown bottle with red label head-up using the right arm",
+    "Use the left arm to lift the bottle with white neck and red top head-up",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Lift the smooth bottle with red lid from the table and secure upright",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Pick the smooth bottle with red lid up with the left arm ensuring it stays head-up.",
+    "Locate the Coca-Cola bottle and lift it upright with the left arm.",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Secure the dark drink bottle with logo upright with the left arm",
+    "Using the left arm, pick the medium dark brown bottle upright",
+    "Grab the hand-sized soda bottle with the left arm in a head-up way",
+    "Lift the red-capped bottle head-up from the table",
+    "Position the narrow-necked bottle head-up and lift it",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Utilize the left arm to lift the medium dark brown bottle while keeping it head-up."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap upright"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Use the left arm to pick up the bottle with ridges on bottom from the table.",
+    "Lift the medium dark brown bottle off the table and hold it upright.",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Grab the long thin bottle from the table with the left arm",
+    "Pick up the medium dark brown bottle from the table using the left arm.",
+    "Position the hand-sized soda bottle head-up and lift it",
+    "Pick the red-capped bottle upright from the table",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Lift the bottle with white neck and red top from the table upright",
+    "Lift the narrow-necked bottle from the table with the left arm",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Find the hand-sized soda bottle on the table and raise it using the left arm.",
+    "Lift the red-capped bottle head-up from the table.",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Raise the long thin bottle from the table using the correct arm, the left arm.",
+    "Use the correct arm to pick up the narrow-necked bottle.",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Secure the brown bottle with red label upright with the left arm",
+    "Use the left arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the red-capped bottle head-up from the table",
+    "Lift the long thin bottle upright carefully using the left arm",
+    "Use the left arm to grab and lift the Coca-Cola bottle head-up.",
+    "Grab the bottle with ridges on bottom head-up using the left arm from the table.",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Pick the red-capped bottle and keep it upright",
+    "Hold the medium dark brown bottle upright from the table",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Locate the bottle with white neck and red top and lift it upright with the left arm.",
+    "Pick the narrow-necked bottle up with the left arm ensuring it stays head-up.",
+    "Grab the Coca-Cola bottle and lift it with the left arm",
+    "Pick the narrow-necked bottle upright from the table",
+    "Grab the Coca-Cola bottle and lift it into a head-up position",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Utilize the left arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Use the left arm to pick up the brown bottle with red label in the correct orientation",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Lift the red-capped bottle using the left arm and hold upright",
+    "Use the left arm to hold the Coca-Cola bottle from the table",
+    "Identify the narrow-necked bottle and grab it with the left arm",
+    "Pick the narrow-necked bottle head-up using the right arm",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Take the Coca-Cola bottle from the table and keep upright",
+    "Lift the bottle with ridges on bottom from the table and secure upright",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Use the left arm to pick up the smooth bottle with red lid from the table.",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Grab the narrow-necked bottle from the table with the left arm",
+    "Pick up the medium dark brown bottle from the table using the left arm.",
+    "Position the narrow-necked bottle head-up and lift it",
+    "Pick the medium dark brown bottle upright from the table",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Lift the bottle with white neck and red top from the table upright",
+    "Lift the plastic drink bottle from the table with the left arm",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Find the bottle with white neck and red top on the table and raise it using the left arm.",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Raise the brown bottle with red label from the table using the correct arm, the left arm.",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Use the left arm to lift the dark drink bottle with logo head-up",
+    "Secure the medium dark brown bottle upright with the left arm",
+    "Use the left arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the brown bottle with red label head-up from the table",
+    "Lift the bottle with ridges on bottom upright carefully using the left arm",
+    "Use the left arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Grab the red-capped bottle head-up using the left arm from the table.",
+    "Lift the bottle the brown bottle with red label up from the table",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Pick the plastic drink bottle and keep it upright",
+    "Hold the narrow-necked bottle upright from the table",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Grab the red-capped bottle from the table and hold it head-up.",
+    "Locate the dark drink bottle with logo and lift it upright with the left arm.",
+    "Pick the brown bottle with red label up with the left arm ensuring it stays head-up.",
+    "Grab the hand-sized soda bottle and lift it with the left arm",
+    "Pick the long thin bottle upright from the table",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Utilize the left arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Use the left arm to pick up the Coca-Cola bottle in the correct orientation",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Hold the narrow-necked bottle upright after lifting with the left arm",
+    "Lift the dark drink bottle with logo using the left arm and hold upright",
+    "Use the left arm to hold the red-capped bottle from the table",
+    "Identify the dark drink bottle with logo and grab it with the left arm",
+    "Pick the red-capped bottle head-up using the right arm",
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Lift the plastic drink bottle from the table and secure upright"
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle from the table with the left arm"
+  ]
+}

adjust_bottle/demo_clean_ep20_vidar/scene_info.json

@@ -0,0 +1,222 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base16",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base16",
+            "{a}": "right"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base16",
+            "{a}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base16",
+            "{a}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base16",
+            "{a}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base16",
+            "{a}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base16",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    }
+}

adjust_bottle/demo_clean_ep20_vidar/seed.txt

@@ -0,0 +1 @@
+0 1 2 3 4 6 7 8 9 10 11 13 14 15 16 18 19 21 23 26 

handover_mic/demo_clean_ep20_vidar/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.",
+    "Reach for the black and white microphone and move it to the other hand.",
+    "Take the compact size microphone, pass it, and release it to complete the task.",
+    "Hold the mesh-patterned microphone head and deliver it to another side.",
+    "Use the left arm to grab the metal head microphone and transfer it to the right arm.",
+    "Take the microphone with textured metal head and move it to another hand.",
+    "Take the white microphone handle black accents using the left arm and transfer it to the right arm.",
+    "Hold the metal head microphone and pass it to the other hand.",
+    "Lift the compact size microphone and hand it to the other side easily.",
+    "Lift the handheld microphone and pass it across.",
+    "Grasp the metal head microphone and shift it to the opposite hand.",
+    "Lift the microphone for voice recording and deliver it to the other side.",
+    "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.",
+    "Pick the microphone with rounded mesh head from the surface and switch hands.",
+    "Grab the metal head microphone and give it to the opposite arm.",
+    "Seize the microphone with textured metal head and offer it to the other arm",
+    "Grasp the microphone with cylindrical handle, then give it to the other arm.",
+    "Use one arm to pick up the mesh-patterned microphone head and give it to the other.",
+    "Grasp the microphone for voice recording and switch it to another hand.",
+    "Grab the smooth plastic microphone handle and transfer it to another hand",
+    "Grab the white microphone handle black accents and smoothly give it to the other arm.",
+    "Take the microphone with black tip and white body and move it to the other hand.",
+    "Lift the handheld microphone and hand it over to the other side.",
+    "Take the microphone with black tip and white body and pass it to another hand",
+    "Take the compact size microphone, shift it, and release it to the other side.",
+    "Grasp the black and white microphone, transfer it, then let go of it smoothly.",
+    "Grip the compact size microphone and pass it to the other side",
+    "Hold the smooth plastic microphone handle and shift it to the other arm.",
+    "Secure the microphone with rounded mesh head from the table and transfer it.",
+    "Pick up the microphone for voice recording and move it to the opposite side",
+    "Use the left arm to hold the smooth plastic microphone handle, then give it to the right arm.",
+    "Hold the handheld microphone with the left arm and give it to the right arm.",
+    "Lift the smooth plastic microphone handle, then pass it across without delay.",
+    "Pick up the compact size microphone and hand it to the other side.",
+    "Secure the smooth plastic microphone handle using one arm and transfer it.",
+    "Hold the microphone with cylindrical handle firmly and pass it to the other arm.",
+    "Lift the microphone with cylindrical handle using the left arm and pass it to the right arm.",
+    "Pick up the microphone with black tip and white body and transfer it to the opposite side.",
+    "Use one hand to grab the microphone with black tip and white body and pass it.",
+    "Grasp the microphone with cylindrical handle and pass it across.",
+    "Hold the compact size microphone with one hand and transfer it",
+    "Pick the smooth plastic microphone handle and transfer it to the other arm.",
+    "Lift the white microphone handle black accents and hand it to someone else.",
+    "Lift the microphone with black tip and white body and hand it over to the other arm.",
+    "Hold the mesh-patterned microphone head securely and shift it to another arm.",
+    "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.",
+    "Reach for the microphone for voice recording and move it to the other hand.",
+    "Take the microphone with textured metal head, pass it, and release it to complete the task.",
+    "Hold the microphone with cylindrical handle and deliver it to another side.",
+    "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.",
+    "Take the microphone with textured metal head and move it to another hand.",
+    "Take the metal head microphone using the left arm and transfer it to the right arm.",
+    "Hold the white microphone handle black accents and pass it to the other hand.",
+    "Lift the metal head microphone and hand it to the other side easily.",
+    "Lift the microphone with cylindrical handle and pass it across.",
+    "Grasp the black and white microphone and shift it to the opposite hand.",
+    "Lift the microphone with textured metal head and deliver it to the other side.",
+    "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.",
+    "Pick the metal head microphone from the surface and switch hands.",
+    "Grab the mesh-patterned microphone head and give it to the opposite arm.",
+    "Seize the microphone with textured metal head and offer it to the other arm",
+    "Grasp the white microphone handle black accents, then give it to the other arm.",
+    "Use one arm to pick up the black and white microphone and give it to the other.",
+    "Grasp the black and white microphone and switch it to another hand.",
+    "Grab the microphone with textured metal head and transfer it to another hand",
+    "Grab the white microphone handle black accents and smoothly give it to the other arm.",
+    "Take the microphone with textured metal head and move it to the other hand.",
+    "Lift the metal head microphone and hand it over to the other side.",
+    "Take the microphone for voice recording and pass it to another hand",
+    "Take the smooth plastic microphone handle, shift it, and release it to the other side.",
+    "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.",
+    "Grip the handheld microphone and pass it to the other side",
+    "Hold the microphone with cylindrical handle and shift it to the other arm.",
+    "Secure the mesh-patterned microphone head from the table and transfer it.",
+    "Pick up the mesh-patterned microphone head and move it to the opposite side",
+    "Use the left arm to hold the handheld microphone, then give it to the right arm.",
+    "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.",
+    "Lift the microphone with rounded mesh head, then pass it across without delay.",
+    "Pick up the metal head microphone and hand it to the other side.",
+    "Secure the metal head microphone using one arm and transfer it.",
+    "Hold the black and white microphone firmly and pass it to the other arm.",
+    "Lift the microphone for voice recording using the left arm and pass it to the right arm.",
+    "Pick up the handheld microphone and transfer it to the opposite side.",
+    "Use one hand to grab the microphone with cylindrical handle and pass it.",
+    "Grasp the smooth plastic microphone handle and pass it across.",
+    "Hold the microphone with black tip and white body with one hand and transfer it",
+    "Pick the handheld microphone and transfer it to the other arm.",
+    "Lift the mesh-patterned microphone head and hand it to someone else.",
+    "Lift the microphone with textured metal head and hand it over to the other arm.",
+    "Hold the microphone with textured metal head securely and shift it to another arm.",
+    "Pick up the metal head microphone, pass it to the other arm, and release.",
+    "Reach for the microphone with textured metal head and move it to the other hand.",
+    "Take the mesh-patterned microphone head, pass it, and release it to complete the task.",
+    "Hold the compact size microphone and deliver it to another side.",
+    "Use the left arm to grab the microphone with rounded mesh head and transfer it to the right arm.",
+    "Take the mesh-patterned microphone head and move it to another hand.",
+    "Take the microphone with black tip and white body using the left arm and transfer it to the right arm.",
+    "Hold the smooth plastic microphone handle and pass it to the other hand.",
+    "Lift the compact size microphone and hand it to the other side easily.",
+    "Lift the microphone with textured metal head and pass it across."
+  ],
+  "unseen": [
+    "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 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 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 lightweight handheld 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 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 lightweight handheld microphone and hand it over.",
+    "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 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.",
+    "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 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 lightweight handheld microphone 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 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 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.",
+    "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 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 lightweight handheld microphone 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 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 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 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 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 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 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 lightweight handheld microphone and hand it over.",
+    "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 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.",
+    "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.",
+    "Pick up the lightweight handheld microphone and hand it over",
+    "Pick up the lightweight handheld microphone and transfer it to the other hand."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.",
+    "Hold the small audio microphone firmly and pass it to the other arm.",
+    "Take the dark blue microphone and pass it to another hand",
+    "Lift the gray and dark blue microphone and deliver it to the other side.",
+    "Grasp the small audio microphone and switch it to another hand.",
+    "Use the right arm to hold the dark blue microphone, then give it to the left arm.",
+    "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.",
+    "Take the small audio microphone, shift it, and release it to the other side.",
+    "Hold the gray and dark blue microphone with the right arm and give it to the left arm.",
+    "Grab the microphone with round foam head using the right arm and pass it over to the left arm.",
+    "Pick up the dark blue microphone, pass it to the other arm, and release.",
+    "Use one arm to pick up the microphone with round foam head and give it to the other.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Use one hand to grab the round head microphone and pass it.",
+    "Lift the microphone for recording sound using the right arm and pass it to the left arm.",
+    "Grasp the medium microphone with two-tone color and shift it to the opposite hand.",
+    "Grab the microphone with smooth gray stem and give it to the opposite arm.",
+    "Hold the microphone with smooth gray stem and pass it to the other hand.",
+    "Pick up the round head microphone and transfer it to the opposite side.",
+    "Grasp the microphone for recording sound and pass it across.",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "Lift the audio microphone with soft covering and hand it to the other side easily.",
+    "Hold the microphone with round foam head and shift it to the other arm.",
+    "Pick up the microphone with dark blue padding and move it to the opposite side",
+    "Secure the medium microphone with two-tone color from the table and transfer it.",
+    "Lift the medium microphone with two-tone color and hand it over to the other side.",
+    "Take the microphone with round foam head, pass it, and release it to complete the task.",
+    "Reach for the microphone covered with foam tip and move it to the other hand.",
+    "Lift the microphone with smooth gray stem and hand it over to the other arm.",
+    "Grip the dark blue microphone and pass it to the other side",
+    "Pick up the microphone with round foam head and hand it to the other side.",
+    "Take the microphone with dark blue padding and move it to another hand.",
+    "Take the microphone for recording sound and move it to the other hand.",
+    "Lift the microphone with smooth gray stem, then pass it across without delay.",
+    "Grasp the dark blue microphone, then give it to the other arm.",
+    "Hold the microphone for recording sound and deliver it to another side.",
+    "Grab the microphone covered with foam tip and smoothly give it to the other arm.",
+    "Pick the dark blue microphone and transfer it to the other arm.",
+    "Hold the audio microphone with soft covering securely and shift it to another arm.",
+    "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.",
+    "Secure the audio microphone with soft covering using one arm and transfer it.",
+    "Pick the microphone with dark blue padding from the surface and switch hands.",
+    "Seize the medium microphone with two-tone color and offer it to the other arm",
+    "Hold the dark blue microphone with one hand and transfer it",
+    "Lift the round head microphone and pass it across.",
+    "Use the right arm to grab the round head microphone and transfer it to the left arm.",
+    "Hold the audio microphone with soft covering firmly and pass it to the other arm.",
+    "Take the microphone for recording sound and pass it to another hand",
+    "Lift the round head microphone and deliver it to the other side.",
+    "Grasp the microphone with smooth gray stem and switch it to another hand.",
+    "Use the right arm to hold the audio microphone with soft covering, then give it to the left arm.",
+    "Take the medium microphone with two-tone color using the right arm and transfer it to the left arm.",
+    "Take the microphone for recording sound, shift it, and release it to the other side.",
+    "Hold the small audio microphone with the right arm and give it to the left arm.",
+    "Grab the medium microphone with two-tone color using the right arm and pass it over to the left arm.",
+    "Pick up the dark blue microphone, pass it to the other arm, and release.",
+    "Use one arm to pick up the microphone covered with foam tip and give it to the other.",
+    "Grab the gray stem microphone with foam top and transfer it to another hand",
+    "Use one hand to grab the microphone with smooth gray stem and pass it.",
+    "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.",
+    "Grasp the microphone with smooth gray stem and shift it to the opposite hand.",
+    "Grab the microphone with round foam head and give it to the opposite arm.",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Pick up the round head microphone and transfer it to the opposite side.",
+    "Grasp the medium microphone with two-tone color and pass it across.",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Lift the microphone with dark blue padding and hand it to the other side easily.",
+    "Hold the medium microphone with two-tone color and shift it to the other arm.",
+    "Pick up the medium microphone with two-tone color and move it to the opposite side",
+    "Secure the microphone for recording sound from the table and transfer it.",
+    "Lift the small audio microphone and hand it over to the other side.",
+    "Take the medium microphone with two-tone color, pass it, and release it to complete the task.",
+    "Reach for the gray stem microphone with foam top and move it to the other hand.",
+    "Lift the small audio microphone and hand it over to the other arm.",
+    "Grip the audio microphone with soft covering and pass it to the other side",
+    "Pick up the microphone for recording sound and hand it to the other side.",
+    "Take the microphone with round foam head and move it to another hand.",
+    "Take the gray and dark blue microphone and move it to the other hand.",
+    "Lift the audio microphone with soft covering, then pass it across without delay.",
+    "Grasp the medium microphone with two-tone color, then give it to the other arm.",
+    "Hold the microphone with round foam head and deliver it to another side.",
+    "Grab the microphone for recording sound and smoothly give it to the other arm.",
+    "Pick the medium microphone with two-tone color and transfer it to the other arm.",
+    "Hold the microphone with round foam head securely and shift it to another arm.",
+    "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.",
+    "Secure the dark blue microphone using one arm and transfer it.",
+    "Pick the small audio microphone from the surface and switch hands.",
+    "Seize the round head microphone and offer it to the other arm",
+    "Hold the microphone covered with foam tip with one hand and transfer it",
+    "Lift the microphone with round foam head and pass it across.",
+    "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left 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",
+    "Lift the microphone covered with foam tip and deliver it to the other side.",
+    "Grasp the audio microphone with soft covering and switch it to another hand.",
+    "Use the right arm to hold the medium microphone with two-tone color, then give it to the left arm.",
+    "Take the microphone with round foam head using the right arm and transfer it to the left arm.",
+    "Take the microphone with smooth gray stem, shift it, and release it to the other side.",
+    "Hold the microphone with round foam head with the right arm and give it to the left arm.",
+    "Grab the dark blue microphone using the right arm and pass it over to the left arm."
+  ],
+  "unseen": [
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "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.",
+    "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 across.",
+    "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 handheld microphone 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 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 across.",
+    "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 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 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.",
+    "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 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 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 across.",
+    "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 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 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.",
+    "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 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 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.",
+    "Take hold of 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.",
+    "Use one arm to hold 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 and pass it to the other arm.",
+    "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 transfer it to the other hand.",
+    "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.",
+    "Pick up the handheld microphone and hand it over",
+    "Grab the microphone with cylindrical handle and pass it to the other arm.",
+    "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 transfer it to the other hand.",
+    "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 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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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 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.",
+    "Take hold of 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.",
+    "Use one arm to hold 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 and pass it to the other arm.",
+    "Grab the handheld microphone 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 transfer it to the other hand.",
+    "Grab the microphone with cylindrical handle from the table and pass it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the microphone with black tip and white body from the surface and switch hands.",
+    "Hold the white microphone handle black accents with one hand and transfer it",
+    "Take the microphone with cylindrical handle, shift it, and release it to the other side.",
+    "Lift the compact size microphone and hand it over to the other side.",
+    "Pick the white microphone handle black accents and transfer it to the other arm.",
+    "Grasp the smooth plastic microphone handle and switch it to another hand.",
+    "Pick up the microphone with black tip and white body, pass it to the other arm, and release.",
+    "Use one arm to pick up the metal head microphone and give it to the other.",
+    "Reach for the microphone with black tip and white body and move it to the other hand.",
+    "Hold the mesh-patterned microphone head and deliver it to another side.",
+    "Lift the microphone for voice recording, then pass it across without delay.",
+    "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.",
+    "Take the microphone for voice recording and move it to another hand.",
+    "Lift the smooth plastic microphone handle and hand it over to the other arm.",
+    "Hold the microphone with black tip and white body and shift it to the other arm.",
+    "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.",
+    "Lift the black and white microphone using the left arm and pass it to the right arm.",
+    "Grab the smooth plastic microphone handle and smoothly give it to the other arm.",
+    "Lift the metal head microphone and deliver it to the other side.",
+    "Grab the microphone for voice recording and give it to the opposite arm.",
+    "Grab the metal head microphone and transfer it to another hand",
+    "Hold the microphone with black tip and white body firmly and pass it to the other arm.",
+    "Use one hand to grab the mesh-patterned microphone head and pass it.",
+    "Take the microphone with rounded mesh head and pass it to another hand",
+    "Lift the metal head microphone and pass it across.",
+    "Secure the white microphone handle black accents from the table and transfer it.",
+    "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.",
+    "Hold the handheld microphone securely and shift it to another arm.",
+    "Seize the compact size microphone and offer it to the other arm",
+    "Grasp the smooth plastic microphone handle 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.",
+    "Pick up the microphone with cylindrical handle and move it to the opposite side",
+    "Pick up the microphone for voice recording and hand it to the other side.",
+    "Grip the metal head microphone and pass it to the other side",
+    "Take the handheld microphone, pass it, and release it to complete the task.",
+    "Hold the microphone with rounded mesh head with the left arm and give it to the right arm.",
+    "Hold the compact size microphone and pass it to the other hand.",
+    "Pick up the handheld microphone and transfer it to the opposite side.",
+    "Lift the microphone with textured metal head and hand it to the other side easily.",
+    "Take the microphone with black tip and white body and move it to the other hand.",
+    "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.",
+    "Secure the microphone with rounded mesh head using one arm and transfer it.",
+    "Grasp the white microphone handle black accents, then give it to the other arm.",
+    "Lift the compact size microphone and hand it to someone else.",
+    "Grasp the mesh-patterned microphone head and shift it to the opposite hand.",
+    "Pick the handheld microphone from the surface and switch hands.",
+    "Hold the microphone with cylindrical handle with one hand and transfer it",
+    "Take the compact size microphone, shift it, and release it to the other side.",
+    "Lift the smooth plastic microphone handle and hand it over to the other side.",
+    "Pick the mesh-patterned microphone head and transfer it to the other arm.",
+    "Grasp the microphone with textured metal head and switch it to another hand.",
+    "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.",
+    "Use one arm to pick up the smooth plastic microphone handle and give it to the other.",
+    "Reach for the microphone with rounded mesh head and move it to the other hand.",
+    "Hold the mesh-patterned microphone head and deliver it to another side.",
+    "Lift the metal head microphone, then pass it across without delay.",
+    "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.",
+    "Take the black and white microphone and move it to another hand.",
+    "Lift the compact size microphone and hand it over to the other arm.",
+    "Hold the handheld microphone and shift it to the other arm.",
+    "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.",
+    "Lift the microphone with black tip and white body using the left arm and pass it to the right arm.",
+    "Grab the microphone for voice recording and smoothly give it to the other arm.",
+    "Lift the mesh-patterned microphone head and deliver it to the other side.",
+    "Grab the microphone with textured metal head and give it to the opposite arm.",
+    "Grab the mesh-patterned microphone head and transfer it to another hand",
+    "Hold the handheld microphone firmly and pass it to the other arm.",
+    "Use one hand to grab the microphone for voice recording and pass it.",
+    "Take the microphone with textured metal head and pass it to another hand",
+    "Lift the microphone with rounded mesh head and pass it across.",
+    "Secure the black and white microphone from the table and transfer it.",
+    "Use the left arm to grab the black and white microphone and transfer it to the right arm.",
+    "Hold the smooth plastic microphone handle securely and shift it to another arm.",
+    "Seize the microphone with textured metal head and offer it to the other arm",
+    "Grasp the microphone with black tip and white body and pass it across.",
+    "Use the left arm to hold the microphone with cylindrical handle, then give it to the right arm.",
+    "Pick up the mesh-patterned microphone head and move it to the opposite side",
+    "Pick up the mesh-patterned microphone head and hand it to the other side.",
+    "Grip the microphone with rounded mesh head and pass it to the other side",
+    "Take the metal head microphone, pass it, and release it to complete the task.",
+    "Hold the handheld microphone with the left arm and give it to the right arm.",
+    "Hold the microphone with cylindrical handle and pass it to the other hand.",
+    "Pick up the microphone with textured metal head and transfer it to the opposite side.",
+    "Lift the smooth plastic microphone handle and hand it to the other side easily.",
+    "Take the smooth plastic microphone handle and move it to the other hand.",
+    "Grab the mesh-patterned microphone head using the left arm and pass it over to the right arm.",
+    "Secure the metal head microphone using one arm and transfer it.",
+    "Grasp the handheld microphone, then give it to the other arm.",
+    "Lift the microphone for voice recording and hand it to someone else.",
+    "Grasp the white microphone handle black accents and shift it to the opposite hand.",
+    "Pick the metal head microphone from the surface and switch hands.",
+    "Hold the microphone with textured metal head with one hand and transfer it",
+    "Take the microphone with cylindrical handle, shift it, and release it to the other side.",
+    "Lift the smooth plastic microphone handle and hand it over to the other side.",
+    "Pick the black and white microphone and transfer it to the other arm.",
+    "Grasp the microphone with textured metal head and switch it to another hand.",
+    "Pick up the smooth plastic microphone handle, pass it to the other arm, and release.",
+    "Use one arm to pick up the mesh-patterned microphone head and give it to the other.",
+    "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."
+  ],
+  "unseen": [
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 across.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the textured white microphone head and pass it across.",
+    "Lift the long microphone with smooth teal grip using the right arm and pass it to the left arm.",
+    "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.",
+    "Take the textured white microphone head and move it to another hand.",
+    "Use one hand to grab the handheld teal microphone and pass it.",
+    "Secure the sound microphone with teal body using one arm and transfer it.",
+    "Take the teal microphone, pass it, and release it to complete the task.",
+    "Hold the compact teal and white microphone securely and shift it to another arm.",
+    "Grip the sound microphone with teal body and pass it to the other side",
+    "Take the teal microphone and move it to the other hand.",
+    "Grasp the handheld teal microphone and pass it across.",
+    "Pick up the teal microphone, pass it to the other arm, and release.",
+    "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.",
+    "Lift the rounded white tip microphone and deliver it to the other side.",
+    "Take the sound microphone with teal body and pass it to another hand",
+    "Lift the plastic teal microphone with slider and hand it over to the other side.",
+    "Take the microphone with slider switch using the right arm and transfer it to the left arm.",
+    "Pick up the teal microphone and transfer it to the opposite side.",
+    "Pick up the rounded white tip microphone and hand it to the other side.",
+    "Grab the long microphone with smooth teal grip and transfer it to another hand",
+    "Seize the handheld teal microphone and offer it to the other arm",
+    "Grab the plastic teal microphone with slider and give it to the opposite arm.",
+    "Lift the white and teal sound microphone and hand it to the other side easily.",
+    "Secure the long microphone with smooth teal grip from the table and transfer it.",
+    "Grab the teal microphone and smoothly give it to the other arm.",
+    "Lift the sound microphone with teal body and hand it over to the other arm.",
+    "Hold the teal microphone with the right arm and give it to the left arm.",
+    "Hold the long microphone with smooth teal grip and shift it to the other arm.",
+    "Grasp the plastic teal microphone with slider and switch it to another hand.",
+    "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",
+    "Pick the handheld teal microphone and transfer it to the other arm.",
+    "Hold the long microphone with smooth teal grip with one hand and transfer it",
+    "Hold the sound microphone with teal body firmly and pass it to the other arm.",
+    "Use the right arm to grab the textured white microphone head and transfer it to the left arm.",
+    "Use one arm to pick up the microphone with white rounded head and give it to the other.",
+    "Grab the white bottom microphone with textured tip using the right arm and pass it over to the left arm.",
+    "Grasp the plastic teal microphone with slider, then give it to the other arm.",
+    "Take the plastic teal microphone with slider, shift it, and release it to the other side.",
+    "Lift the teal microphone, then pass it across without delay.",
+    "Hold the white and teal sound microphone and deliver it to another side.",
+    "Pick the microphone with white rounded head from the surface and switch hands.",
+    "Use the right arm to hold the handheld teal microphone, then give it to the left arm.",
+    "Lift the long microphone with smooth teal grip and hand it to someone else.",
+    "Reach for the microphone with slider switch and move it to the other hand.",
+    "Lift the compact teal and white microphone and pass it across.",
+    "Lift the teal microphone using the right arm and pass it to the left arm.",
+    "Grasp the microphone with slider switch and shift it to the opposite hand.",
+    "Take the compact teal and white microphone and move it to another hand.",
+    "Use one hand to grab the compact teal and white microphone and pass it.",
+    "Secure the microphone with white rounded head using one arm and transfer it.",
+    "Take the teal microphone, pass it, and release it to complete the task.",
+    "Hold the white and teal sound microphone securely and shift it to another arm.",
+    "Grip the microphone with white rounded head and pass it to the other side",
+    "Take the textured white microphone head and move it to the other hand.",
+    "Grasp the microphone with slider switch and pass it across.",
+    "Pick up the teal microphone, pass it to the other arm, and release.",
+    "Grasp the textured white microphone head, transfer it, then let go of it smoothly.",
+    "Lift the white bottom microphone with textured tip and deliver it to the other side.",
+    "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.",
+    "Take the microphone with white rounded head using the right arm and transfer it to the left arm.",
+    "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.",
+    "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",
+    "Seize the white bottom microphone with textured tip and offer it to the other arm",
+    "Grab the compact teal and white microphone and give it to the opposite arm.",
+    "Lift the rounded white tip microphone and hand it to the other side easily.",
+    "Secure the compact teal and white microphone from the table and transfer it.",
+    "Grab the handheld teal microphone and smoothly give it to the other arm.",
+    "Lift the handheld teal microphone and hand it over to the other arm.",
+    "Hold the teal microphone with the right arm and give it to the left arm.",
+    "Hold the plastic teal microphone with slider and shift it to the other arm.",
+    "Grasp the white bottom microphone with textured tip and switch it to another hand.",
+    "Hold the compact teal and white microphone and pass it to the other hand.",
+    "Pick up the sound microphone with teal body and move it to the opposite side",
+    "Pick the rounded white tip microphone and transfer it to the other arm.",
+    "Hold the plastic teal microphone with slider with one hand and transfer it",
+    "Hold the microphone with white rounded head firmly and pass it to the other arm.",
+    "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 sound microphone with teal body and give it to the other.",
+    "Grab the handheld teal microphone using the right arm and pass it over to the left arm.",
+    "Grasp the compact teal and white microphone, then give it to the other arm.",
+    "Take the long microphone with smooth teal grip, shift it, and release it to the other side.",
+    "Lift the white bottom microphone with textured tip, then pass it across without delay.",
+    "Hold the white and teal sound microphone and deliver it to another side.",
+    "Pick the microphone with slider switch from the surface and switch hands.",
+    "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.",
+    "Lift the microphone with slider switch and hand it to someone else.",
+    "Reach for the white bottom microphone with textured tip and move it to the other hand.",
+    "Lift the white bottom microphone with textured tip and pass it across.",
+    "Lift the plastic teal microphone with slider using the right arm and pass it to the left arm.",
+    "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.",
+    "Take the white bottom microphone with textured tip and move it to another hand.",
+    "Use one hand to grab the compact teal and white microphone and pass it.",
+    "Secure the plastic teal microphone with slider using one arm and transfer it.",
+    "Take the microphone with slider switch, pass it, and release it to complete the task.",
+    "Hold the handheld teal microphone securely and shift it to another arm.",
+    "Grip the microphone with slider switch and pass it to the other side",
+    "Take the microphone with white rounded head and move it to the other hand."
+  ],
+  "unseen": [
+    "Grab the teal microphone with white bottom from the table and pass 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 across.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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",
+    "Grab the long teal microphone with white grooves from the table and pass 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 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.",
+    "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",
+    "Grab the switchable microphone with teal body from the table and pass 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 across.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 switchable microphone with teal body from the table and pass it over.",
+    "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 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.",
+    "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 teal microphone with white bottom from the table and pass 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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",
+    "Grab the switchable microphone with teal body from the table and pass it over.",
+    "Use one arm to hold the switchable microphone with teal body and hand it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Reach for the white bottom microphone with textured tip and move it to the other hand.",
+    "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.",
+    "Grasp the handheld teal microphone and shift it to the opposite hand.",
+    "Grip the compact teal and white microphone and pass it to the other side",
+    "Hold the rounded white tip microphone and pass it to the other hand.",
+    "Seize the microphone with white rounded head and offer it to the other arm",
+    "Lift the compact teal and white microphone and hand it to the other side easily.",
+    "Lift the microphone with slider switch and hand it to someone else.",
+    "Take the rounded white tip microphone using the right arm and transfer it to the left arm.",
+    "Hold the microphone with white rounded head with the right arm and give it to the left arm.",
+    "Lift the compact teal and white microphone and hand it over to the other arm.",
+    "Lift the textured white microphone head and pass it across.",
+    "Hold the white and teal sound microphone firmly and pass it to the other arm.",
+    "Grab the textured white microphone head using the right arm and pass it over to the left arm.",
+    "Hold the plastic teal microphone with slider with one hand and transfer it",
+    "Lift the compact teal and white microphone and deliver it to the other side.",
+    "Take the long microphone with smooth teal grip and move it to the other hand.",
+    "Take the long microphone with smooth teal grip and pass it to another hand",
+    "Use the right arm to hold the microphone with white rounded head, then give it to the left arm.",
+    "Use one hand to grab the textured white microphone head and pass it.",
+    "Pick up the white and teal sound microphone, pass it to the other arm, and release.",
+    "Take the handheld teal microphone, pass it, and release it to complete the task.",
+    "Take the sound microphone with teal body and move it to another hand.",
+    "Secure the teal microphone from the table and transfer it.",
+    "Hold the rounded white tip microphone and deliver it to another side.",
+    "Pick the sound microphone with teal body and transfer it to the other arm.",
+    "Pick the sound microphone with teal body from the surface and switch hands.",
+    "Hold the long microphone with smooth teal grip and shift it to the other arm.",
+    "Secure the sound microphone with teal body using one arm and transfer it.",
+    "Grab the white and teal sound microphone and give it to the opposite arm.",
+    "Lift the compact teal and white microphone and hand it over to the other side.",
+    "Pick up the white bottom microphone with textured tip and move it to the opposite side",
+    "Grasp the white and teal sound microphone and pass it across.",
+    "Grab the compact teal and white microphone and smoothly give it to the other arm.",
+    "Grasp the plastic teal microphone with slider and switch it to another hand.",
+    "Use the right arm to grab the long microphone with smooth teal grip and transfer it to the left arm.",
+    "Lift the textured white microphone head, then pass it across without delay.",
+    "Hold the microphone with white rounded head securely and shift it to another arm.",
+    "Pick up the long microphone with smooth teal grip and hand it to the other side.",
+    "Grab the white and teal sound microphone and transfer it to another hand",
+    "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.",
+    "Take the white and teal sound microphone, shift it, and release it to the other side.",
+    "Lift the teal microphone using the right arm and pass it to the left arm.",
+    "Grasp the compact teal and white microphone, then give it to the other arm.",
+    "Pick up the handheld teal microphone and transfer it to the opposite side.",
+    "Reach for the white bottom microphone with textured tip and move it to the other hand.",
+    "Grasp the teal microphone, transfer it, then let go of it smoothly.",
+    "Grasp the sound microphone with teal body and shift it to the opposite hand.",
+    "Grip the long microphone with smooth teal grip and pass it to the other side",
+    "Hold the white and teal sound microphone and pass it to the other hand.",
+    "Seize the compact teal and white microphone and offer it to the other arm",
+    "Lift the teal microphone and hand it to the other side easily.",
+    "Lift the long microphone with smooth teal grip and hand it to someone else.",
+    "Take the teal microphone using the right arm 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.",
+    "Lift the white bottom microphone with textured tip and hand it over to the other arm.",
+    "Lift the microphone with slider switch and pass it across.",
+    "Hold the long microphone with smooth teal grip firmly and pass 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.",
+    "Hold the microphone with slider switch with one hand and transfer it",
+    "Lift the textured white microphone head and deliver 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 and pass it to another hand",
+    "Use the right arm to hold the handheld teal microphone, then give it to the left arm.",
+    "Use one hand to grab the sound microphone with teal body and pass it.",
+    "Pick up the rounded white tip microphone, pass it to the other arm, and release.",
+    "Take the teal microphone, pass it, and release it to complete the task.",
+    "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.",
+    "Hold the microphone with white rounded head and deliver it to another side.",
+    "Pick the compact teal and white microphone and transfer it to the other arm.",
+    "Pick the microphone with white rounded head from the surface and switch hands.",
+    "Hold the teal microphone and shift it to the other arm.",
+    "Secure the plastic teal microphone with slider using one arm and transfer it.",
+    "Grab the handheld teal microphone and give it to the opposite arm.",
+    "Lift the microphone with white rounded head and hand it over to the other side.",
+    "Pick up the compact teal and white microphone and move it to the opposite side",
+    "Grasp the teal microphone and pass it across.",
+    "Grab the teal microphone and smoothly give it to the other arm.",
+    "Grasp the teal microphone and switch it to another hand.",
+    "Use the right arm to grab the plastic teal microphone with slider and transfer it to the left arm.",
+    "Lift the sound microphone with teal body, then pass it across without delay.",
+    "Hold the white and teal sound microphone securely and shift it to another arm.",
+    "Pick up the microphone with white rounded head and hand it to the other side.",
+    "Grab the teal microphone and transfer it to another hand",
+    "Use one arm to pick up the rounded white tip microphone and give it to the other.",
+    "Take the white and teal sound microphone, shift it, and release it to the other side.",
+    "Lift the microphone with slider switch using the right arm and pass it to the left arm.",
+    "Grasp the microphone with slider switch, then give it to the other arm.",
+    "Pick up the textured white microphone head and transfer it to the opposite side.",
+    "Reach for the microphone with white rounded head and move it to the other hand.",
+    "Grasp the compact teal and white microphone, transfer it, then let go of it smoothly.",
+    "Grasp the sound microphone with teal body and shift it to the opposite hand.",
+    "Grip the microphone with slider switch and pass it to the other side",
+    "Hold the long microphone with smooth teal grip and pass it to the other hand.",
+    "Seize the microphone with slider switch and offer it to the other arm",
+    "Lift the sound microphone with teal body and hand it to the other side easily.",
+    "Lift the teal microphone and hand it to someone else.",
+    "Take the white bottom microphone with textured tip using the right arm and transfer it to the left arm.",
+    "Hold the textured white microphone head with the right arm and give it to the left arm."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Use one arm to hold the teal microphone with white bottom and hand it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the gray and dark blue microphone firmly and pass it to the other arm.",
+    "Grasp the microphone with smooth gray stem, then give it to the other arm.",
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Lift the medium microphone with two-tone color using the right arm and pass it to the left arm.",
+    "Grip the gray and dark blue microphone and pass it to the other side",
+    "Secure the gray and dark blue microphone from the table and transfer it.",
+    "Take the small audio microphone and pass it to another hand",
+    "Lift the gray and dark blue microphone and hand it over to the other side.",
+    "Seize the dark blue microphone and offer it to the other arm",
+    "Pick up the medium microphone with two-tone color and move it to the opposite side",
+    "Take the small audio microphone, shift it, and release it to the other side.",
+    "Take the microphone for recording sound, pass it, and release it to complete the task.",
+    "Take the gray stem microphone with foam top and move it to another hand.",
+    "Hold the small audio microphone with one hand and transfer it",
+    "Pick up the audio microphone with soft covering and hand it to the other side.",
+    "Hold the microphone for recording sound securely and shift it to another arm.",
+    "Lift the microphone with round foam head and hand it to the other side easily.",
+    "Pick the dark blue microphone from the surface and switch hands.",
+    "Grab the medium microphone with two-tone color and transfer it to another hand",
+    "Reach for the gray stem microphone with foam top and move it to the other hand.",
+    "Use the right arm to hold the round head microphone, then give it to the left arm.",
+    "Grasp the gray and dark blue microphone, transfer it, then let go of it smoothly.",
+    "Pick up the dark blue microphone and transfer it to the opposite side.",
+    "Pick the gray stem microphone with foam top and transfer it to the other arm.",
+    "Grab the audio microphone with soft covering and smoothly give it to the other arm.",
+    "Pick up the audio microphone with soft covering, pass it to the other arm, and release.",
+    "Grasp the microphone covered with foam tip and switch it to another hand.",
+    "Use one arm to pick up the round head microphone and give it to the other.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Lift the microphone covered with foam tip and deliver it to the other side.",
+    "Hold the audio microphone with soft covering and shift it to the other arm.",
+    "Grasp the small audio microphone and shift it to the opposite hand.",
+    "Take the microphone with dark blue padding using the right arm and transfer it to the left arm.",
+    "Secure the microphone with smooth gray stem using one arm and transfer it.",
+    "Lift the gray stem microphone with foam top, then pass it across without delay.",
+    "Grab the dark blue microphone using the right arm and pass it over to the left arm.",
+    "Hold the round head microphone and deliver it to another side.",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Use the right arm to grab the microphone covered with foam tip and transfer it to the left arm.",
+    "Hold the gray stem microphone with foam top with the right arm and give it to the left arm.",
+    "Lift the microphone with round foam head and hand it to someone else.",
+    "Lift the microphone with dark blue padding and pass it across.",
+    "Take the microphone for recording sound and move it to the other hand.",
+    "Hold the microphone for recording sound and pass it to the other hand.",
+    "Grasp the microphone covered with foam tip and pass it across.",
+    "Hold the small audio microphone firmly and pass it to the other arm.",
+    "Grasp the medium microphone with two-tone color, then give it to the other arm.",
+    "Grab the audio microphone with soft covering and give it to the opposite arm.",
+    "Lift the microphone with round foam head using the right arm and pass it to the left arm.",
+    "Grip the round head microphone and pass it to the other side",
+    "Secure the gray stem microphone with foam top from the table and transfer it.",
+    "Take the audio microphone with soft covering and pass it to another hand",
+    "Lift the microphone covered with foam tip and hand it over to the other side.",
+    "Seize the small audio microphone and offer it to the other arm",
+    "Pick up the round head microphone and move it to the opposite side",
+    "Take the gray and dark blue microphone, shift it, and release it to the other side.",
+    "Take the small audio microphone, pass it, and release it to complete the task.",
+    "Take the microphone with smooth gray stem and move it to another hand.",
+    "Hold the gray and dark blue microphone with one hand and transfer it",
+    "Pick up the microphone covered with foam tip and hand it to the other side.",
+    "Hold the medium microphone with two-tone color securely and shift it to another arm.",
+    "Lift the round head microphone and hand it to the other side easily.",
+    "Pick the microphone covered with foam tip from the surface and switch hands.",
+    "Grab the small audio microphone and transfer it to another hand",
+    "Reach for the gray stem microphone with foam top and move it to the other hand.",
+    "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.",
+    "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.",
+    "Pick up the microphone covered with foam tip and transfer it to the opposite side.",
+    "Pick the round head microphone and transfer it to the other arm.",
+    "Grab the microphone with smooth gray stem and smoothly give it to the other arm.",
+    "Pick up the microphone with smooth gray stem, pass it to the other arm, and release.",
+    "Grasp the dark blue microphone and switch it to another hand.",
+    "Use one arm to pick up the round head microphone and give it to the other.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Lift the gray stem microphone with foam top and deliver it to the other side.",
+    "Hold the microphone for recording sound and shift it to the other arm.",
+    "Grasp the small audio microphone and shift it to the opposite hand.",
+    "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.",
+    "Lift the medium microphone with two-tone color, then pass it across without delay.",
+    "Grab the microphone covered with foam tip using the right arm and pass it over to the left arm.",
+    "Hold the gray stem microphone with foam top and deliver it to another side.",
+    "Use one hand to grab the microphone with dark blue padding and pass it.",
+    "Use the right arm to grab the gray stem microphone with foam top and transfer it to the left arm.",
+    "Hold the microphone for recording sound with the right arm and give it to the left arm.",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "Lift the medium microphone with two-tone color and pass it across.",
+    "Take the microphone with round foam head and move it to the other hand.",
+    "Hold the microphone with dark blue padding and pass it to the other hand.",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Hold the microphone with smooth gray stem firmly and pass it to the other arm.",
+    "Grasp the audio microphone with soft covering, then give it to the other arm.",
+    "Grab the gray stem microphone with foam top and give it to the opposite arm.",
+    "Lift the dark blue microphone using the right arm and pass it to the left arm.",
+    "Grip the gray and dark blue microphone and pass it to the other side",
+    "Secure the microphone with smooth gray stem from the table and transfer it.",
+    "Take the microphone with round foam head and pass it to another hand",
+    "Lift the small audio microphone and hand it over to the other side.",
+    "Seize the dark blue microphone and offer it to the other 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 microphone with cylindrical handle and hand it over",
+    "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 handheld microphone and hand 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.",
+    "Grab the handheld microphone 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.",
+    "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 and pass it to the other arm.",
+    "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 across.",
+    "Pick up the handheld microphone and hand it over",
+    "Grab the microphone with cylindrical handle 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 and pass it to the other arm.",
+    "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 across.",
+    "Pick up the microphone with cylindrical handle and hand it over",
+    "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.",
+    "Use one arm to hold the microphone with cylindrical handle and hand 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.",
+    "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 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 microphone with cylindrical handle and hand it over.",
+    "Grab the compact microphone with two parts and pass it to the other arm.",
+    "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 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.",
+    "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 handheld microphone and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "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 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 compact microphone with two parts and hand 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.",
+    "Grab the handheld microphone 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.",
+    "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 and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "Grab the handheld microphone 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.",
+    "Take hold of the handheld microphone and hand 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.",
+    "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 across.",
+    "Pick up the handheld microphone and hand it over",
+    "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.",
+    "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.",
+    "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 across.",
+    "Pick up the microphone with cylindrical handle and hand it over",
+    "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 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.",
+    "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 compact microphone with two parts 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 and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "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 microphone with cylindrical handle from the table and pass it over.",
+    "Take hold of the handheld microphone and hand 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.",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "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.",
+    "Take hold of the handheld microphone and hand 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.",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "Grab the microphone with cylindrical handle from the table and pass it across.",
+    "Pick up the compact microphone with two parts and hand it over"
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the microphone with white rounded head using the left arm and pass it over to the right arm.",
+    "Hold the handheld teal microphone with the left arm and give it to the right arm.",
+    "Use one arm to pick up the handheld teal microphone and give it to the other.",
+    "Lift the microphone with white rounded head and hand it over to the other side.",
+    "Hold the long microphone with smooth teal grip firmly and pass it to the other arm.",
+    "Take the handheld teal microphone using the left arm and transfer it to the right arm.",
+    "Lift the rounded white tip microphone and hand it over to the other arm.",
+    "Grab the microphone with white rounded head and give it to the opposite arm.",
+    "Reach for the rounded white tip microphone and move it to the other hand.",
+    "Grasp the plastic teal microphone with slider, then give it to the other arm.",
+    "Take the sound microphone with teal body and pass it to another hand",
+    "Take the long microphone with smooth teal grip, pass it, and release it to complete the task.",
+    "Seize the rounded white tip microphone and offer it to the other arm",
+    "Secure the microphone with white rounded head using one arm and transfer it.",
+    "Hold the teal microphone with one hand and transfer it",
+    "Pick up the textured white microphone head, pass it to the other arm, and release.",
+    "Hold the plastic teal microphone with slider securely and shift it to another arm.",
+    "Grasp the textured white microphone head, transfer it, then let go of it smoothly.",
+    "Hold the handheld teal microphone and shift it to the other arm.",
+    "Pick up the teal microphone and transfer it to the opposite side.",
+    "Lift the teal microphone and hand it to the other side easily.",
+    "Take the long microphone with smooth teal grip, shift it, and release it to the other side.",
+    "Lift the textured white microphone head using the left arm and pass it to the right arm.",
+    "Hold the white bottom microphone with textured tip and pass it to the other hand.",
+    "Grab the textured white microphone head and transfer it to another hand",
+    "Lift the rounded white tip microphone and deliver it to the other side.",
+    "Use the left arm to hold the white and teal sound microphone, then give it to the right arm.",
+    "Pick up the plastic teal microphone with slider and hand it to the other side.",
+    "Use the left arm to grab the white bottom microphone with textured tip and transfer it to the right arm.",
+    "Grasp the white and teal sound microphone and shift it to the opposite hand.",
+    "Secure the rounded white tip microphone from the table and transfer it.",
+    "Lift the microphone with white rounded head, then pass it across without delay.",
+    "Grasp the long microphone with smooth teal grip and pass it across.",
+    "Hold the microphone with white rounded head and deliver it to another side.",
+    "Take the compact teal and white microphone and move it to the other hand.",
+    "Grab the handheld teal microphone and smoothly give it to the other arm.",
+    "Lift the rounded white tip microphone and pass it across.",
+    "Take the long microphone with smooth teal grip and move it to another hand.",
+    "Grip the teal microphone and pass it to the other side",
+    "Pick up the teal microphone and move it to the opposite side",
+    "Grasp the textured white microphone head and switch it to another hand.",
+    "Pick the white and teal sound microphone from the surface and switch hands.",
+    "Lift the teal microphone and hand it to someone else.",
+    "Use one hand to grab the white and teal sound microphone and pass it.",
+    "Pick the microphone with slider switch and transfer 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 teal microphone with the left arm and give it to the right arm.",
+    "Use one arm to pick up the teal microphone and give it to the other.",
+    "Lift the white and teal sound microphone and hand it over to the other side.",
+    "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.",
+    "Take the sound microphone with teal body using the left arm and transfer it to the right arm.",
+    "Lift the compact teal and white microphone and hand it over to the other arm.",
+    "Grab the microphone with slider switch and give it to the opposite arm.",
+    "Reach for the handheld teal microphone and move it to the other hand.",
+    "Grasp the white and teal sound microphone, then give it to the other arm.",
+    "Take the textured white microphone head and pass it to another hand",
+    "Take the white bottom microphone with textured tip, pass it, and release it to complete the task.",
+    "Seize the plastic teal microphone with slider and offer it to the other arm",
+    "Secure the rounded white tip microphone using one arm and transfer it.",
+    "Hold the microphone with white rounded head with one hand and transfer it",
+    "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.",
+    "Hold the handheld teal microphone securely and shift it to another arm.",
+    "Grasp the textured white microphone head, transfer it, then let go of it smoothly.",
+    "Hold the teal microphone and shift it to the other arm.",
+    "Pick up the handheld teal microphone and transfer it to the opposite side.",
+    "Lift the compact teal and white microphone and hand it to the other side easily.",
+    "Take the white bottom microphone with textured tip, shift it, and release it to the other side.",
+    "Lift the compact teal and white microphone using the left arm and pass it to the right arm.",
+    "Hold the sound microphone with teal body and pass it to the other hand.",
+    "Grab the microphone with white rounded head and transfer it to another hand",
+    "Lift the microphone with white rounded head and deliver it to the other side.",
+    "Use the left arm to hold the textured white microphone head, then give it to the right arm.",
+    "Pick up the long microphone with smooth teal grip and hand it to the other side.",
+    "Use the left arm to grab the microphone with slider switch and transfer it to the right arm.",
+    "Grasp the microphone with slider switch and shift it to the opposite hand.",
+    "Secure the sound microphone with teal body from the table and transfer it.",
+    "Lift the textured white microphone head, then pass it across without delay.",
+    "Grasp the plastic teal microphone with slider and pass it across.",
+    "Hold the white and teal sound microphone and deliver it to another side.",
+    "Take the compact teal and white microphone and move it to the other hand.",
+    "Grab the rounded white tip microphone and smoothly give it to the other arm.",
+    "Lift the rounded white tip microphone and pass it across.",
+    "Take the teal microphone and move it to another hand.",
+    "Grip the teal microphone and pass it to the other side",
+    "Pick up the white and teal sound microphone and move it to the opposite side",
+    "Grasp the textured white microphone head and switch it to another hand.",
+    "Pick the textured white microphone head from the surface and switch hands.",
+    "Lift the plastic teal microphone with slider and hand it to someone else.",
+    "Use one hand to grab the microphone with slider switch and pass it.",
+    "Pick the white and teal sound microphone and transfer 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 teal microphone with the left arm and give it to the right arm.",
+    "Use one arm to pick up the teal microphone and give it to the other.",
+    "Lift the teal microphone and hand it over to the other side.",
+    "Hold the compact teal and white microphone firmly and pass it to the other arm.",
+    "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.",
+    "Lift the microphone with white rounded head and hand it over to the other arm.",
+    "Grab the handheld teal microphone and give it to the opposite arm.",
+    "Reach for the sound microphone with teal body and move it to the other hand.",
+    "Grasp the compact teal and white microphone, then give it to the other arm."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 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 from the table and pass 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 from the table and pass 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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 from the table and pass 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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic teal microphone with slider from the surface and switch hands.",
+    "Hold the plastic teal microphone with slider and shift it to the other arm.",
+    "Seize the handheld teal microphone and offer it to the other arm",
+    "Lift the compact teal and white microphone and pass it across.",
+    "Hold the compact teal and white microphone with one hand and transfer it",
+    "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.",
+    "Lift the teal microphone and deliver it to the other side.",
+    "Grab the sound microphone with teal body and transfer it to another hand",
+    "Grasp the compact teal and white microphone, then give it to the other arm.",
+    "Lift the plastic teal microphone with slider and hand it over to the other side.",
+    "Lift the sound microphone with teal body, then pass it across without delay.",
+    "Grasp the compact teal and white microphone and switch it to another hand.",
+    "Pick up the white and teal sound microphone and transfer it to the opposite side.",
+    "Secure the compact teal and white microphone using one arm and transfer it.",
+    "Use the right arm to hold the handheld teal microphone, then give it to the left arm.",
+    "Grasp the teal microphone and shift it to the opposite hand.",
+    "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.",
+    "Grab the long microphone with smooth teal grip and smoothly give it to the other arm.",
+    "Pick up the microphone with slider switch and hand it to the other side.",
+    "Hold the compact teal and white microphone and deliver it to another side.",
+    "Hold the long microphone with smooth teal grip and pass it to the other hand.",
+    "Pick up the textured white microphone head, pass it to the other arm, and release.",
+    "Lift the handheld teal microphone and hand it over to the other arm.",
+    "Hold the sound microphone with teal body firmly and pass it to the other arm.",
+    "Pick the rounded white tip microphone and transfer it to the other arm.",
+    "Grab the compact teal and white microphone and give it to the opposite arm.",
+    "Take the sound microphone with teal body, pass it, and release it to complete the task.",
+    "Pick up the long microphone with smooth teal grip and move it to the opposite side",
+    "Grasp the textured white microphone head, transfer it, then let go of it smoothly.",
+    "Hold the white and teal sound microphone securely and shift it to another arm.",
+    "Lift the microphone with slider switch using the right arm and pass it to the left arm.",
+    "Secure the microphone with white rounded head from the table and transfer it.",
+    "Grasp the textured white microphone head and pass it across.",
+    "Grip the plastic teal microphone with slider and pass it to the other side",
+    "Lift the long microphone with smooth teal grip and hand it to the other side easily.",
+    "Take the sound microphone with teal body and pass it to another hand",
+    "Reach for the handheld teal microphone and move it to the other hand.",
+    "Take the teal microphone, shift it, and release it to the other side.",
+    "Use one hand to grab the teal microphone and pass it.",
+    "Lift the microphone with white rounded head and hand it to someone else.",
+    "Take the plastic teal microphone with slider and move it to the other hand.",
+    "Take the sound microphone with teal body and move it to another hand.",
+    "Grab the plastic teal microphone with slider using the right arm and pass it over to the left arm.",
+    "Take the teal microphone using the right arm and transfer it to the left arm.",
+    "Pick the textured white microphone head from the surface and switch hands.",
+    "Hold the white bottom microphone with textured tip and shift it to the other arm.",
+    "Seize the white bottom microphone with textured tip and offer it to the other arm",
+    "Lift the sound microphone with teal body and pass it across.",
+    "Hold the textured white microphone head with one hand and transfer it",
+    "Use one arm to pick up the teal microphone and give it to the other.",
+    "Lift the textured white microphone head and deliver it to the other side.",
+    "Grab the handheld teal microphone and transfer it to another hand",
+    "Grasp the white bottom microphone with textured tip, then give it to the other arm.",
+    "Lift the teal microphone and hand it over to the other side.",
+    "Lift the white bottom microphone with textured tip, then pass it across without delay.",
+    "Grasp the plastic teal microphone with slider and switch it to another hand.",
+    "Pick up the teal microphone and transfer it to the opposite side.",
+    "Secure the microphone with slider switch using one arm and transfer it.",
+    "Use the right arm to hold the compact teal and white microphone, then give it to the left arm.",
+    "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.",
+    "Use the right arm to grab the handheld teal microphone 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.",
+    "Grab the microphone with white rounded head and smoothly give it to the other arm.",
+    "Pick up the compact teal and white microphone and hand it to the other side.",
+    "Hold the microphone with white rounded head and deliver it to another side.",
+    "Hold the sound microphone with teal body and pass it to the other hand.",
+    "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.",
+    "Lift the sound microphone with teal body and hand it over to the other arm.",
+    "Hold the white bottom microphone with textured tip firmly and pass it to the other arm.",
+    "Pick the white and teal sound microphone and transfer it to the other arm.",
+    "Grab the teal microphone and give it to the opposite arm.",
+    "Take the rounded white tip microphone, pass it, and release it to complete the task.",
+    "Pick up the teal microphone and move it to the opposite side",
+    "Grasp the microphone with white rounded head, transfer it, then let go of it smoothly.",
+    "Hold the microphone with slider switch securely and shift it to another arm.",
+    "Lift the rounded white tip microphone using the right arm and pass it to the left arm.",
+    "Secure the handheld teal microphone from the table and transfer it.",
+    "Grasp the compact teal and white microphone and pass it across.",
+    "Grip the handheld teal microphone and pass it to the other side",
+    "Lift the plastic teal microphone with slider and hand it to the other side easily.",
+    "Take the rounded white tip microphone and pass it to another hand",
+    "Reach for the teal microphone and move it to the other hand.",
+    "Take the rounded white tip microphone, shift it, and release it to the other side.",
+    "Use one hand to grab the teal microphone and pass it.",
+    "Lift the rounded white tip microphone and hand it to someone else.",
+    "Take the sound microphone with teal body and move it to the other hand.",
+    "Take the white bottom microphone with textured tip and move it to another hand.",
+    "Grab the rounded white tip microphone using the right arm and pass it over to the left arm.",
+    "Take the compact teal and white microphone using the right arm and transfer it to the left arm.",
+    "Pick the rounded white tip microphone from the surface and switch hands.",
+    "Hold the plastic teal microphone with slider and shift it to the other arm.",
+    "Seize the compact teal and white microphone and offer it to the other arm",
+    "Lift the microphone with slider switch and pass it across.",
+    "Hold the white bottom microphone with textured tip with one hand and transfer it",
+    "Use one arm to pick up the white and teal sound microphone and give it to the other.",
+    "Lift the long microphone with smooth teal grip and deliver it to the other side.",
+    "Grab the microphone with white rounded head and transfer it to another hand",
+    "Grasp the rounded white tip microphone, then give it to the other arm.",
+    "Lift the microphone with white rounded head and hand it over to the other side."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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 and pass it to the other arm.",
+    "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",
+    "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.",
+    "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.",
+    "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.",
+    "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 and pass it to the other arm.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "Take hold of 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.",
+    "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.",
+    "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 and pass it to the other arm.",
+    "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 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 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 and pass it to the other arm.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 switchable microphone with teal body 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.",
+    "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.",
+    "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.",
+    "Take hold of the long teal microphone with white grooves and hand it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small audio microphone and give it to the opposite arm.",
+    "Grip the gray stem microphone with foam top and pass it to the other side",
+    "Lift the microphone with round foam head using the left arm and pass it to the right arm.",
+    "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.",
+    "Lift the microphone for recording sound, then pass it across without delay.",
+    "Secure the microphone with smooth gray stem using one arm and transfer it.",
+    "Pick up the small audio microphone and hand it to the other side.",
+    "Hold the small audio microphone and shift it to the other arm.",
+    "Hold the microphone for recording sound with one hand and transfer it",
+    "Pick up the gray and dark blue microphone and move it to the opposite side",
+    "Grasp the microphone with round foam head and shift it to the opposite hand.",
+    "Lift the microphone for recording sound and pass it across.",
+    "Lift the audio microphone with soft covering and hand it to someone else.",
+    "Lift the dark blue microphone and hand it to the other side easily.",
+    "Use the left arm to hold the microphone with dark blue padding, then give it to the right arm.",
+    "Take the round head microphone and move it to the other hand.",
+    "Reach for the small audio microphone and move it to the other hand.",
+    "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.",
+    "Grasp the small audio microphone and switch it to another hand.",
+    "Hold the gray and dark blue microphone securely and shift it to another arm.",
+    "Lift the small audio microphone and hand it over to the other side.",
+    "Pick the microphone for recording sound and transfer it to the other arm.",
+    "Grab the microphone for recording sound and smoothly give it to the other arm.",
+    "Lift the microphone with round foam head and deliver it to the other side.",
+    "Take the audio microphone with soft covering and move it to another hand.",
+    "Use one hand to grab the gray stem microphone with foam top and pass it.",
+    "Use the left arm to grab the medium microphone with two-tone color and transfer it to the right arm.",
+    "Grasp the microphone with round foam head and pass it across.",
+    "Hold the gray and dark blue microphone and deliver it to another side.",
+    "Hold the microphone with smooth gray stem and pass it to the other hand.",
+    "Hold the microphone for recording sound with the left arm and give it to the right arm.",
+    "Take the microphone covered with foam tip and pass it to another hand",
+    "Pick up the audio microphone with soft covering and transfer it to the opposite side.",
+    "Use one arm to pick up the dark blue microphone and give it to the other.",
+    "Lift the microphone with smooth gray stem and hand it over to the other arm.",
+    "Take the microphone covered with foam tip, pass it, and release it to complete the task.",
+    "Secure the gray and dark blue microphone from the table and transfer it.",
+    "Grab the round head microphone using the left arm and pass it over to the right arm.",
+    "Hold the microphone covered with foam tip firmly and pass it to the other arm.",
+    "Seize the small audio microphone and offer it to the other arm",
+    "Pick the microphone covered with foam tip from the surface and switch hands.",
+    "Grasp the dark blue microphone, then give it to the other arm.",
+    "Grab the microphone with round foam head and transfer it to another hand",
+    "Take the gray stem microphone with foam top, shift it, and release it to the other side.",
+    "Pick up the round head microphone, pass it to the other arm, and release.",
+    "Grab the microphone covered with foam tip and give it to the opposite arm.",
+    "Grip the microphone with dark blue padding and pass it to the other side",
+    "Lift the microphone with dark blue padding using the left arm and pass it to the right arm.",
+    "Take the microphone for recording sound using the left arm and transfer it to the right arm.",
+    "Lift the microphone with smooth gray stem, then pass it across without delay.",
+    "Secure the gray and dark blue microphone using one arm and transfer it.",
+    "Pick up the small audio microphone and hand it to the other side.",
+    "Hold the microphone with smooth gray stem and shift it to the other arm.",
+    "Hold the microphone for recording sound with one hand and transfer it",
+    "Pick up the gray and dark blue microphone and move it to the opposite side",
+    "Grasp the audio microphone with soft covering and shift it to the opposite hand.",
+    "Lift the microphone with dark blue padding and pass it across.",
+    "Lift the dark blue microphone and hand it to someone else.",
+    "Lift the gray stem microphone with foam top and hand it to the other side easily.",
+    "Use the left arm to hold the microphone with smooth gray stem, then give it to the right arm.",
+    "Take the microphone with round foam head and move it to the other hand.",
+    "Reach for the microphone for recording sound and move it to the other hand.",
+    "Grasp the microphone with smooth gray stem, transfer it, then let go of it smoothly.",
+    "Grasp the round head microphone and switch it to another hand.",
+    "Hold the gray stem microphone with foam top securely and shift it to another arm.",
+    "Lift the microphone for recording sound and hand it over to the other side.",
+    "Pick the gray stem microphone with foam top and transfer it to the other arm.",
+    "Grab the gray stem microphone with foam top and smoothly give it to the other arm.",
+    "Lift the microphone with smooth gray stem and deliver it to the other side.",
+    "Take the medium microphone with two-tone color and move it to another hand.",
+    "Use one hand to grab the dark blue microphone and pass it.",
+    "Use the left arm to grab the microphone with smooth gray stem and transfer it to the right arm.",
+    "Grasp the dark blue microphone and pass it across.",
+    "Hold the audio microphone with soft covering and deliver it to another side.",
+    "Hold the audio microphone with soft covering and pass it to the other hand.",
+    "Hold the dark blue microphone with the left arm and give it to the right arm.",
+    "Take the medium microphone with two-tone color and pass it to another hand",
+    "Pick up the small audio microphone 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.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Take the medium microphone with two-tone color, pass it, and release it to complete the task.",
+    "Secure the small audio microphone from the table and transfer it.",
+    "Grab the medium microphone with two-tone color using the left arm and pass it over to the right arm.",
+    "Hold the gray and dark blue microphone firmly and pass it to the other arm.",
+    "Seize the microphone for recording sound and offer it to the other arm",
+    "Pick the audio microphone with soft covering from the surface and switch hands.",
+    "Grasp the microphone with dark blue padding, then give it to the other arm.",
+    "Grab the round head microphone and transfer it to another hand",
+    "Take the audio microphone with soft covering, shift it, and release it to the other side.",
+    "Pick up the microphone for recording sound, pass it to the other arm, and release.",
+    "Grab the medium microphone with two-tone color and give it to the opposite arm.",
+    "Grip the audio microphone with soft covering and pass it to the other side",
+    "Lift the medium microphone with two-tone color using the left arm and pass it to the right arm.",
+    "Take the microphone covered with foam tip using the left arm and transfer it to the right arm.",
+    "Lift the small audio microphone, then pass it across without delay.",
+    "Secure the audio microphone with soft covering using one arm and transfer it.",
+    "Pick up the microphone for recording sound and hand it to the other side.",
+    "Hold the gray stem microphone with foam top and shift it to the other arm.",
+    "Hold the microphone covered with foam tip with one hand and transfer it",
+    "Pick up the microphone with dark blue padding 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",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "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.",
+    "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.",
+    "Pick up the handheld microphone and hand it over",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "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.",
+    "Grab the compact microphone with two parts from the table and pass it over.",
+    "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",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "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.",
+    "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.",
+    "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.",
+    "Use one arm to hold the handheld microphone and hand it over.",
+    "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.",
+    "Grab the microphone with cylindrical handle from the table and pass it across.",
+    "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.",
+    "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.",
+    "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.",
+    "Pick up the handheld microphone and hand it over",
+    "Pick up the microphone with cylindrical handle and transfer it to the other hand.",
+    "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.",
+    "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.",
+    "Pick up the handheld microphone and hand it over",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "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.",
+    "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.",
+    "Pick up the handheld microphone and hand it over",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "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.",
+    "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.",
+    "Pick up the handheld microphone and hand it over",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "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.",
+    "Grab the handheld microphone from the table and pass it over.",
+    "Grab the handheld microphone from the table and pass it across.",
+    "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.",
+    "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.",
+    "Grab the compact microphone with two parts from the table and pass it over.",
+    "Grab the compact microphone with two parts from the table and pass it across.",
+    "Pick up the handheld microphone and hand it over",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "Grab the handheld microphone from the table and pass it over.",
+    "Grab the handheld microphone from the table and pass it across.",
+    "Pick up the microphone with cylindrical handle and hand it over",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "Use one arm to hold the handheld microphone 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.",
+    "Grab the handheld microphone from the table and pass it over.",
+    "Grab the handheld microphone from the table and pass it across.",
+    "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.",
+    "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 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.",
+    "Pick up the microphone with cylindrical handle and hand it over"
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.",
+    "Pick up the microphone with cylindrical handle, pass it to the other arm, and release.",
+    "Pick up the microphone for voice recording and hand it to the other side.",
+    "Pick the mesh-patterned microphone head from the surface and switch hands.",
+    "Secure the microphone with rounded mesh head from the table and transfer it.",
+    "Take the smooth plastic microphone handle and move it to another hand.",
+    "Pick the microphone for voice recording and transfer it to the other arm.",
+    "Reach for the metal head microphone and move it to the other hand.",
+    "Hold the microphone with textured metal head with one hand and transfer it",
+    "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.",
+    "Seize the smooth plastic microphone handle and offer it to the other arm",
+    "Take the microphone with black tip and white body, shift it, and release it to the other side.",
+    "Use the left arm to hold the microphone with black tip and white body, then give it to the right arm.",
+    "Take the mesh-patterned microphone head and pass it to another hand",
+    "Grab the metal head microphone and give it to the opposite arm.",
+    "Pick up the microphone with black tip and white body and transfer it to the opposite side.",
+    "Lift the white microphone handle black accents and deliver it to the other side.",
+    "Use one hand to grab the microphone with black tip and white body and pass it.",
+    "Grasp the black and white microphone and switch it to another hand.",
+    "Grasp the black and white microphone and shift it to the opposite hand.",
+    "Secure the microphone for voice recording using one arm and transfer it.",
+    "Take the microphone with cylindrical handle, pass it, and release it to complete the task.",
+    "Hold the black and white microphone and pass it to the other hand.",
+    "Lift the microphone with textured metal head and hand it over to the other side.",
+    "Grasp the metal head microphone, then give it to the other arm.",
+    "Grab the compact size microphone and smoothly give it to the other arm.",
+    "Grip the smooth plastic microphone handle and pass it to the other side",
+    "Hold the microphone with cylindrical handle with the left arm and give it to the right arm.",
+    "Take the handheld microphone and move it to the other hand.",
+    "Lift the black and white microphone and hand it to the other side easily.",
+    "Hold the black and white microphone and deliver it to another side.",
+    "Lift the microphone with textured metal head and hand it over to the other arm.",
+    "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.",
+    "Hold the microphone with textured metal head securely and shift it to another arm.",
+    "Grab the smooth plastic microphone handle using the left arm and pass it over to the right arm.",
+    "Hold the white microphone handle black accents firmly and pass it to the other arm.",
+    "Pick up the microphone for voice recording and move it to the opposite side",
+    "Lift the microphone with black tip and white body and pass it across.",
+    "Lift the black and white microphone, then pass it across without delay.",
+    "Lift the metal head microphone using the left arm and pass it to the right arm.",
+    "Grasp the handheld microphone and pass it across.",
+    "Lift the handheld microphone and hand it to someone else.",
+    "Use one arm to pick up the microphone with black tip and white body and give it to the other.",
+    "Grab the white microphone handle black accents and transfer it to another hand",
+    "Hold the microphone with rounded mesh head and shift it to the other arm.",
+    "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.",
+    "Pick up the microphone with textured metal head, pass it to the other arm, and release.",
+    "Pick up the microphone with cylindrical handle and hand it to the other side.",
+    "Pick the microphone with textured metal head from the surface and switch hands.",
+    "Secure the compact size microphone from the table and transfer it.",
+    "Take the white microphone handle black accents and move it to another hand.",
+    "Pick the microphone with rounded mesh 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.",
+    "Hold the metal head microphone with one hand and transfer it",
+    "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.",
+    "Seize the black and white microphone and offer it to the other arm",
+    "Take the microphone with rounded mesh head, shift it, and release it to the other side.",
+    "Use the left arm to hold the microphone with rounded mesh head, then give it to the right arm.",
+    "Take the smooth plastic microphone handle and pass it to another hand",
+    "Grab the microphone with cylindrical handle and give it to the opposite arm.",
+    "Pick up the microphone with textured metal head and transfer it to the opposite side.",
+    "Lift the microphone with black tip and white body and deliver it to the other side.",
+    "Use one hand to grab the microphone for voice recording and pass it.",
+    "Grasp the microphone with black tip and white body and switch it to another hand.",
+    "Grasp the compact size microphone and shift it to the opposite hand.",
+    "Secure the microphone with cylindrical handle using one arm and transfer it.",
+    "Take the microphone with black tip and white body, pass it, and release it to complete the task.",
+    "Hold the handheld microphone and pass it to the other hand.",
+    "Lift the microphone with rounded mesh head and hand it over to the other side.",
+    "Grasp the handheld microphone, then give it to the other arm.",
+    "Grab the microphone with black tip and white body and smoothly give it to the other arm.",
+    "Grip the smooth plastic microphone handle and pass it to the other side",
+    "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.",
+    "Take the white microphone handle black accents and move it to the other hand.",
+    "Lift the microphone with rounded mesh head and hand it to the other side easily.",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Lift the metal head microphone and hand it over to the other arm.",
+    "Take the handheld microphone using the left arm and transfer it to the right arm.",
+    "Hold the black and white microphone securely and shift it to another arm.",
+    "Grab the black and white microphone using the left arm and pass it over to the right arm.",
+    "Hold the metal head microphone firmly and pass it to the other arm.",
+    "Pick up the metal head microphone and move it to the opposite side",
+    "Lift the microphone with rounded mesh head and pass it across.",
+    "Lift the microphone with black tip and white body, then pass it across without delay.",
+    "Lift the compact size microphone using the left arm and pass it to the right arm.",
+    "Grasp the metal head microphone and pass it across.",
+    "Lift the mesh-patterned microphone head and hand it to someone else.",
+    "Use one arm to pick up the handheld microphone and give it to the other.",
+    "Grab the microphone with black tip and white body and transfer it to another hand",
+    "Hold the mesh-patterned microphone head and shift 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 smooth plastic microphone handle, pass it to the other arm, and release.",
+    "Pick up the microphone with cylindrical handle and hand it to the other side.",
+    "Pick the compact size microphone from the surface and switch hands.",
+    "Secure the microphone with textured metal head from the table and transfer it.",
+    "Take the microphone with cylindrical handle and move it to another hand.",
+    "Pick the compact size microphone and transfer it to the other arm.",
+    "Reach for the compact size microphone and move it to the other hand.",
+    "Hold the metal head microphone with one hand and transfer it",
+    "Use the left arm to grab the microphone with cylindrical handle and transfer it to the right arm."
+  ],
+  "unseen": [
+    "Pick up 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 lightweight handheld microphone 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.",
+    "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 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 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 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 lightweight handheld 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.",
+    "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 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 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.",
+    "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 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 hand it over",
+    "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.",
+    "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 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 hand it over",
+    "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 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 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 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.",
+    "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 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 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.",
+    "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 and pass it to the other arm.",
+    "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.",
+    "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 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.",
+    "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.",
+    "Take hold of 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 and pass it to the other arm.",
+    "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.",
+    "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 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.",
+    "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 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 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 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 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.",
+    "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 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 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.",
+    "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.",
+    "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 black and white plastic microphone and hand it over",
+    "Grab the black and white plastic microphone from the table and pass it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the white and teal sound microphone firmly and pass it to the other arm.",
+    "Lift the teal microphone and hand it over to the other side.",
+    "Take the microphone with white rounded head and move it to the other hand.",
+    "Pick up the white bottom microphone with textured tip and hand it to the other side.",
+    "Take the compact teal and white microphone, shift it, and release it to the other side.",
+    "Seize the plastic teal microphone with slider and offer it to the other arm",
+    "Take the rounded white tip microphone using the right arm and transfer it to the left arm.",
+    "Grasp the sound microphone with teal body and switch it to another hand.",
+    "Grasp the white bottom microphone with textured tip, transfer it, then let go of it smoothly.",
+    "Pick up the compact teal and white microphone and transfer it to the opposite side.",
+    "Hold the long microphone with smooth teal grip and pass it to the other hand.",
+    "Lift the sound microphone with teal body and hand it to someone else.",
+    "Use the right arm to hold the teal microphone, then give it to the left arm.",
+    "Grasp the microphone with slider switch, then give it to the other arm.",
+    "Pick up the long microphone with smooth teal grip and move it to the opposite side",
+    "Grab the sound microphone with teal body and smoothly give it to the other arm.",
+    "Secure the textured white microphone head from the table and transfer it.",
+    "Use the right arm to grab the handheld teal microphone and transfer it to the left arm.",
+    "Lift the microphone with slider switch, then pass it across without delay.",
+    "Lift the handheld teal microphone and pass it across.",
+    "Grab the microphone with slider switch and transfer it to another hand",
+    "Grip the handheld teal microphone and pass it to the other side",
+    "Hold the long microphone with smooth teal grip and deliver it to another side.",
+    "Grasp the white bottom microphone with textured tip and pass it across.",
+    "Secure the teal microphone using one arm and transfer it.",
+    "Lift the rounded white tip microphone using the right arm and pass it to the left arm.",
+    "Hold the textured white microphone head securely and shift it to another arm.",
+    "Hold the plastic teal microphone with slider and shift it to the other arm.",
+    "Use one hand to grab the teal microphone and pass it.",
+    "Lift the long microphone with smooth teal grip 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.",
+    "Take the handheld teal microphone and pass it to another hand",
+    "Pick the compact teal and white microphone and transfer it to the other arm.",
+    "Pick up the microphone with slider switch, pass it to the other arm, and release.",
+    "Lift the microphone with white rounded head and deliver it to the other side.",
+    "Grab the rounded white tip microphone and give it to the opposite arm.",
+    "Reach for the long microphone with smooth teal grip and move it to the other hand.",
+    "Grasp the teal microphone and shift it to the opposite hand.",
+    "Use one arm to pick up the textured white microphone head and give it to the other.",
+    "Take the sound microphone with teal body and move it to another hand.",
+    "Hold the microphone with slider switch with one hand and transfer it",
+    "Pick the rounded white tip microphone from the surface and switch hands.",
+    "Take the plastic teal microphone with slider, pass it, and release it to complete the task.",
+    "Hold the white bottom microphone with textured tip with the right arm and give it to the left arm.",
+    "Lift the sound microphone with teal body and hand it to the other side easily.",
+    "Hold the microphone with slider switch firmly and pass it to the other arm.",
+    "Lift the rounded white tip microphone and hand it over to the other side.",
+    "Take the white and teal sound microphone and move it to the other hand.",
+    "Pick up the compact teal and white microphone and hand it to the other side.",
+    "Take the textured white microphone head, shift it, and release it to the other side.",
+    "Seize the microphone with white rounded head and offer it to the other arm",
+    "Take the white and teal sound microphone using the right arm and transfer it to the left arm.",
+    "Grasp the sound microphone with teal body and switch it to another hand.",
+    "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.",
+    "Pick up the microphone with white rounded head and transfer it to the opposite side.",
+    "Hold the compact teal and white microphone and pass it to the other hand.",
+    "Lift the microphone with slider switch and hand it to someone else.",
+    "Use the right arm to hold the textured white microphone head, then give it to the left arm.",
+    "Grasp the microphone with white rounded head, then give it to the other arm.",
+    "Pick up the sound microphone with teal body and move it to the opposite side",
+    "Grab the textured white microphone head and smoothly give it to the other arm.",
+    "Secure the white and teal sound 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.",
+    "Lift the teal microphone, then pass it across without delay.",
+    "Lift the white and teal sound microphone and pass it across.",
+    "Grab the white and teal sound microphone and transfer it to another hand",
+    "Grip the microphone with slider switch and pass it to the other side",
+    "Hold the sound microphone with teal body and deliver it to another side.",
+    "Grasp the long microphone with smooth teal grip and pass it across.",
+    "Secure the white and teal sound microphone using one arm and transfer it.",
+    "Lift the white bottom microphone with textured tip using the right arm and pass it to the left arm.",
+    "Hold the rounded white tip microphone securely and shift it to another arm.",
+    "Hold the textured white microphone head and shift it to the other arm.",
+    "Use one hand to grab the microphone with slider switch and pass it.",
+    "Lift the white bottom microphone with textured tip and hand it over to the other arm.",
+    "Grab the teal microphone using the right arm and pass it over to the left arm.",
+    "Take the white bottom microphone with textured tip and pass it to another hand",
+    "Pick the textured white microphone head and transfer it to the other arm.",
+    "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.",
+    "Lift the microphone with slider switch and deliver it to the other side.",
+    "Grab the sound microphone with teal body and give it to the opposite arm.",
+    "Reach for the rounded white tip microphone and move it to the other hand.",
+    "Grasp the white and teal sound microphone and shift it to the opposite hand.",
+    "Use one arm to pick up the handheld teal microphone and give it to the other.",
+    "Take the plastic teal microphone with slider and move it to another hand.",
+    "Hold the microphone with white rounded head with one hand and transfer it",
+    "Pick the rounded white tip microphone from the surface and switch hands.",
+    "Take the compact teal and white microphone, pass it, and release it to complete the task.",
+    "Hold the handheld teal microphone with the right arm and give it to the left arm.",
+    "Lift the textured white microphone head and hand it to the other side easily.",
+    "Hold the rounded white tip microphone firmly and pass it to the other arm.",
+    "Lift the handheld teal microphone and hand it over to the other side.",
+    "Take the microphone with white rounded head and move it to the other hand.",
+    "Pick up the white bottom microphone with textured tip and hand it to the other side.",
+    "Take the white bottom microphone with textured tip, shift it, and release it to the other side.",
+    "Seize the plastic teal microphone with slider and offer it to the other arm",
+    "Take the rounded white tip microphone using the right arm and transfer it to the left arm.",
+    "Grasp the plastic teal microphone with slider and switch it to another hand.",
+    "Grasp the handheld teal microphone, transfer it, then let go of it smoothly.",
+    "Pick up the compact teal and white microphone and transfer it to the opposite side."
+  ],
+  "unseen": [
+    "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 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 across.",
+    "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 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 across.",
+    "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 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 across.",
+    "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 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 across.",
+    "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.",
+    "Take hold of 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 across.",
+    "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 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 across.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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 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 across.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 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 across.",
+    "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 switchable microphone with teal body and hand it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the microphone with textured metal head and hand it to someone else.",
+    "Grab the metal head microphone using the left arm and pass it over to the right arm.",
+    "Use the left arm to grab the white microphone handle black accents and transfer it to the right arm.",
+    "Hold the smooth plastic microphone handle with the left arm and give it to the right arm.",
+    "Lift the mesh-patterned microphone head and deliver it to the other side.",
+    "Seize the microphone for voice recording and offer it to the other arm",
+    "Use the left arm to hold the microphone for voice recording, then give it to the right arm.",
+    "Take the metal head microphone using the left arm and transfer it to the right arm.",
+    "Take the microphone with rounded mesh head and pass it to another hand",
+    "Lift the black and white microphone and hand it over to the other side.",
+    "Grab the microphone with textured metal head and give it to the opposite arm.",
+    "Reach for the handheld microphone and move it to the other hand.",
+    "Take the microphone with cylindrical handle, shift it, and release it to the other side.",
+    "Grasp the white microphone handle black accents, then give it to the other arm.",
+    "Hold the white microphone handle black accents and deliver it to another side.",
+    "Take the microphone with black tip and white body and move it to the other hand.",
+    "Lift the black and white microphone, then pass it across without delay.",
+    "Hold the microphone with textured metal head with one hand and transfer it",
+    "Use one arm to pick up the microphone for voice recording and give it to the other.",
+    "Grab the smooth plastic microphone handle and smoothly give it to the other arm.",
+    "Pick up the microphone for voice recording, pass it to the other arm, and release.",
+    "Hold the smooth plastic microphone handle firmly and pass it to the other arm.",
+    "Grab the compact size microphone and transfer it to another hand",
+    "Lift the compact size microphone and hand it to the other side easily.",
+    "Hold the handheld microphone securely and shift it to another arm.",
+    "Secure the compact size microphone using one arm and transfer it.",
+    "Take the mesh-patterned microphone head, pass it, and release it to complete the task.",
+    "Use one hand to grab the metal head microphone and pass it.",
+    "Hold the microphone for voice recording and shift it to the other arm.",
+    "Grasp the microphone with black tip and white body and shift it to the opposite hand.",
+    "Lift the mesh-patterned microphone head and hand it over to the other arm.",
+    "Pick the microphone with black tip and white body from the surface and switch hands.",
+    "Take the metal head microphone and move it to another hand.",
+    "Lift the microphone with textured metal head using the left arm and pass it to the right arm.",
+    "Hold the microphone with cylindrical handle and pass it to the other hand.",
+    "Pick up the white microphone handle black accents and hand it to the other side.",
+    "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.",
+    "Lift the smooth plastic microphone handle and pass it across.",
+    "Grasp the microphone with black tip and white body and pass it across.",
+    "Grasp the microphone with cylindrical handle and switch it to another hand.",
+    "Secure the black and white microphone from the table and transfer it.",
+    "Pick up the handheld microphone and transfer it to the opposite side.",
+    "Grip the mesh-patterned microphone head and pass it to the other side",
+    "Pick up the microphone with textured metal head and move it to the opposite side",
+    "Pick the black and white microphone and transfer it to the other arm.",
+    "Lift the metal head microphone and hand it to someone else.",
+    "Grab the microphone with cylindrical handle using the left arm and pass it over to the right arm.",
+    "Use the left arm to grab the compact size microphone and transfer it to the right arm.",
+    "Hold the microphone for voice recording with the left arm and give it to the right arm.",
+    "Lift the microphone with black tip and white body and deliver it to the other side.",
+    "Seize the black and white microphone and offer it to the other arm",
+    "Use the left arm to hold the handheld microphone, then give it to the right arm.",
+    "Take the black and white microphone using the left arm and transfer it to the right arm.",
+    "Take the mesh-patterned microphone head and pass it to another hand",
+    "Lift the black and white microphone and hand it over to the other side.",
+    "Grab the metal head microphone and give it to the opposite arm.",
+    "Reach for the handheld microphone and move it to the other hand.",
+    "Take the handheld microphone, shift it, and release it to the other side.",
+    "Grasp the microphone with textured metal head, then give it to the other arm.",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Take the microphone with textured metal head and move it to the other hand.",
+    "Lift the smooth plastic microphone handle, then pass it across without delay.",
+    "Hold the mesh-patterned microphone head with one hand and transfer it",
+    "Use one arm to pick up the compact size microphone and give it to the other.",
+    "Grab the microphone with cylindrical handle and smoothly give it to the other arm.",
+    "Pick up the microphone with black tip and white body, pass it to the other arm, and release.",
+    "Hold the smooth plastic microphone handle firmly and pass it to the other arm.",
+    "Grab the metal head microphone and transfer it to another hand",
+    "Lift the mesh-patterned microphone head and hand it to the other side easily.",
+    "Hold the microphone for voice recording securely and shift it to another arm.",
+    "Secure the microphone for voice recording using one arm and transfer it.",
+    "Take the microphone with cylindrical handle, pass it, and release it to complete the task.",
+    "Use one hand to grab the microphone with rounded mesh head and pass it.",
+    "Hold the smooth plastic microphone handle and shift it to the other arm.",
+    "Grasp the mesh-patterned microphone head and shift it to the opposite hand.",
+    "Lift the black and white microphone and hand it over to the other arm.",
+    "Pick the smooth plastic microphone handle from the surface and switch hands.",
+    "Take the metal head microphone and move it to another hand.",
+    "Lift the white microphone handle black accents using the left arm and pass it to the right arm.",
+    "Hold the handheld microphone and pass it to the other hand.",
+    "Pick up the metal head microphone and hand it to the other side.",
+    "Grasp the mesh-patterned microphone head, transfer it, then let go of it smoothly.",
+    "Lift the microphone with cylindrical handle and pass it across.",
+    "Grasp the handheld microphone and pass it across.",
+    "Grasp the black and white microphone and switch it to another hand.",
+    "Secure the white microphone handle black accents from the table and transfer it.",
+    "Pick up the white microphone handle black accents and transfer it to the opposite side.",
+    "Grip the metal head microphone and pass it to the other side",
+    "Pick up the microphone with cylindrical handle and move it to the opposite side",
+    "Pick the white microphone handle black accents and transfer it to the other arm.",
+    "Lift the microphone with rounded mesh head and hand it to someone else.",
+    "Grab the black and white microphone using the left arm and pass it over to the right arm.",
+    "Use the left arm to grab the microphone with textured metal head and transfer it to the right arm.",
+    "Hold the black and white microphone with the left arm and give it to the right arm.",
+    "Lift the microphone with rounded mesh head and deliver it to the other side.",
+    "Seize the microphone with black tip and white body and offer it to the other arm",
+    "Use the left arm to hold the compact size microphone, then give it to the right arm.",
+    "Take the black and white microphone using the left arm and transfer it to the right arm.",
+    "Take the microphone for voice recording and pass it to another hand",
+    "Lift the compact size microphone and hand it over to the other side."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 and pass it to the other arm.",
+    "Grab the lightweight handheld microphone from the table and pass 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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 and pass it to the other arm.",
+    "Grab the lightweight handheld microphone from the table and pass 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.",
+    "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 lightweight handheld microphone and pass it to the other arm.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 black and white plastic microphone from the table and pass 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.",
+    "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 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 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.",
+    "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 lightweight handheld microphone and pass it to the other arm.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 and pass it to the other arm.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact teal and white microphone and pass it across.",
+    "Grab the teal microphone and transfer it to another hand",
+    "Take the rounded white tip microphone and move it to the other hand.",
+    "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.",
+    "Secure the teal microphone from the table and transfer it.",
+    "Grab the plastic teal microphone with slider and smoothly give it to the other arm.",
+    "Grasp the long microphone with smooth teal grip and pass it across.",
+    "Lift the handheld teal microphone and hand it over to the other arm.",
+    "Pick up the long microphone with smooth teal grip, pass it to the other arm, and release.",
+    "Reach for the textured white microphone head and move it to the other hand.",
+    "Use one arm to pick up the handheld teal microphone and give it to the other.",
+    "Grab the textured white microphone head using the left arm and pass it over to the right arm.",
+    "Seize the long microphone with smooth teal grip and offer it to the other arm",
+    "Secure the teal microphone using one arm and transfer it.",
+    "Lift the long microphone with smooth teal grip and hand it over to the other side.",
+    "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.",
+    "Pick up the rounded white tip microphone and move it to the opposite side",
+    "Grasp the long microphone with smooth teal grip, transfer it, then let go of it smoothly.",
+    "Pick the textured white microphone head from the surface and switch hands.",
+    "Take the microphone with slider switch, shift it, and release it to the other side.",
+    "Grab the teal microphone and give it to the opposite arm.",
+    "Take the plastic teal microphone with slider and move it to another hand.",
+    "Lift the white and teal sound microphone and deliver it to the other side.",
+    "Pick up the long microphone with smooth teal grip and hand it to the other side.",
+    "Hold the microphone with slider switch firmly and pass it to the other arm.",
+    "Take the textured white microphone head using the left arm and transfer it 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, then give it to the other arm.",
+    "Lift the long microphone with smooth teal grip, then pass it across without delay.",
+    "Pick up the microphone with slider switch and transfer it to the opposite side.",
+    "Lift the white and teal sound microphone using the left arm and pass it to the right arm.",
+    "Grasp the white bottom microphone with textured tip and switch it to another hand.",
+    "Hold the microphone with slider switch and pass it to the other hand.",
+    "Grip the white bottom microphone with textured tip and pass it to the other side",
+    "Hold the compact teal and white microphone and shift it to the other arm.",
+    "Lift the white bottom microphone with textured tip and hand it to someone else.",
+    "Hold the textured white microphone head with one hand and transfer it",
+    "Hold the microphone with slider switch and deliver it to another side.",
+    "Take the white bottom microphone with textured tip and pass it to another hand",
+    "Pick the plastic teal microphone with slider and transfer it to the other arm.",
+    "Hold the microphone with slider switch with the left arm and give it to the right arm.",
+    "Use one hand to grab the rounded white tip microphone and pass it.",
+    "Take the teal microphone, pass it, and release it to complete the task.",
+    "Lift the textured white microphone head and hand it to the other side easily.",
+    "Grasp the sound microphone with teal body and shift it to the opposite hand.",
+    "Lift the long microphone with smooth teal grip and pass it across.",
+    "Grab the long microphone with smooth teal grip and transfer it to another hand",
+    "Take the long microphone with smooth teal grip and move it to the other hand.",
+    "Use the left arm to grab the sound microphone with teal body and transfer it to the right arm.",
+    "Secure the white bottom microphone with textured tip from the table and transfer it.",
+    "Grab the white bottom microphone with textured tip and smoothly give it to the other arm.",
+    "Grasp the textured white microphone head and pass it across.",
+    "Lift the compact teal and white microphone and hand it over to the other arm.",
+    "Pick up the microphone with slider switch, pass it to the other arm, and release.",
+    "Reach for the handheld teal microphone and move it to the other hand.",
+    "Use one arm to pick up the teal microphone and give it to the other.",
+    "Grab the compact teal and white microphone using the left arm and pass it over to the right arm.",
+    "Seize the handheld teal microphone and offer it to the other arm",
+    "Secure the compact teal and white microphone using one arm and transfer it.",
+    "Lift the teal microphone and hand it over to the other side.",
+    "Use the left arm to hold the long microphone with smooth teal grip, then give it to the right arm.",
+    "Pick up the microphone with slider switch and move it to the opposite side",
+    "Grasp the sound microphone with teal body, transfer it, then let go of it smoothly.",
+    "Pick the teal microphone from the surface and switch hands.",
+    "Take the long microphone with smooth teal grip, shift it, and release it to the other side.",
+    "Grab the white bottom microphone with textured tip and give it to the opposite arm.",
+    "Take the white bottom microphone with textured tip and move it to another hand.",
+    "Lift the white and teal sound microphone and deliver it to the other side.",
+    "Pick up the white bottom microphone with textured tip and hand it to the other side.",
+    "Hold the sound microphone with teal body firmly and pass it to the other arm.",
+    "Take the white bottom microphone with textured tip using the left arm and transfer it to the right arm.",
+    "Hold the compact teal and white microphone securely and shift it to another arm.",
+    "Grasp the handheld teal microphone, then give it to the other arm.",
+    "Lift the microphone with white rounded head, then pass it across without delay.",
+    "Pick up the long microphone with smooth teal grip and transfer it to the opposite side.",
+    "Lift the long microphone with smooth teal grip using the left arm and pass it to the right arm.",
+    "Grasp the white bottom microphone with textured tip and switch it to another hand.",
+    "Hold the textured white microphone head and pass it to the other hand.",
+    "Grip the sound microphone with teal body and pass it to the other side",
+    "Hold the rounded white tip microphone and shift it to the other arm.",
+    "Lift the long microphone with smooth teal grip and hand it to someone else.",
+    "Hold the sound microphone with teal body with one hand and transfer it",
+    "Hold the compact teal and white microphone and deliver it to another side.",
+    "Take the plastic teal microphone with slider and pass it to another hand",
+    "Pick the teal microphone and transfer it to the other arm.",
+    "Hold the long microphone with smooth teal grip with the left arm and give it to the right arm.",
+    "Use one hand to grab the rounded white tip microphone and pass it.",
+    "Take the white and teal sound microphone, pass it, and release it to complete the task.",
+    "Lift the compact teal and white microphone and hand it to the other side easily.",
+    "Grasp the white bottom microphone with textured tip and shift it to the opposite hand.",
+    "Lift the long microphone with smooth teal grip and pass it across.",
+    "Grab the long microphone with smooth teal grip and transfer it to another hand",
+    "Take the compact teal and white microphone and move it to the other hand.",
+    "Use the left arm to grab the long microphone with smooth teal grip and transfer it to the right arm.",
+    "Secure the white bottom microphone with textured tip from the table and transfer it.",
+    "Grab the microphone with white rounded head and smoothly give it to the other arm.",
+    "Grasp the handheld teal microphone and pass it across.",
+    "Lift the plastic teal microphone with slider and hand it over to the other arm.",
+    "Pick up the sound microphone with teal body, pass it to the other arm, and release.",
+    "Reach for the compact teal and white microphone and move it to the other hand."
+  ],
+  "unseen": [
+    "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.",
+    "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",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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",
+    "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 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.",
+    "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",
+    "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 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.",
+    "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",
+    "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 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.",
+    "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",
+    "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.",
+    "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.",
+    "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",
+    "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 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.",
+    "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",
+    "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.",
+    "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 and pass it to the other arm.",
+    "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",
+    "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 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 over.",
+    "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 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.",
+    "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",
+    "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 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 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.",
+    "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.",
+    "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 and pass it to the other arm.",
+    "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",
+    "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 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.",
+    "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",
+    "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 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."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact size microphone and transfer it to the other arm.",
+    "Take the microphone with rounded mesh head and move it to another hand.",
+    "Grasp the metal head microphone, then give it to the other arm.",
+    "Reach for the smooth plastic microphone handle and move it to the other hand.",
+    "Grip the microphone with rounded mesh head and pass it to the other side",
+    "Hold the white microphone handle black accents securely and shift it to another arm.",
+    "Lift the metal head microphone and deliver it to the other side.",
+    "Grasp the microphone with rounded mesh head and pass it across.",
+    "Seize the metal head microphone and offer it to the other arm",
+    "Pick up the microphone with cylindrical handle and move it to the opposite side",
+    "Hold the smooth plastic microphone handle firmly and pass it to the other arm.",
+    "Lift the microphone for voice recording and hand it over to the other side.",
+    "Grab the black and white microphone using the right arm and pass it over to the left arm.",
+    "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.",
+    "Lift the microphone with textured metal head and pass it across.",
+    "Lift the handheld microphone using the right arm and pass it to the left arm.",
+    "Grab the microphone with cylindrical handle and transfer it to another hand",
+    "Use one arm to pick up the microphone with black tip and white body and give it to the other.",
+    "Pick up the microphone with rounded mesh head, pass it to the other arm, and release.",
+    "Hold the black and white microphone and shift it to the other arm.",
+    "Secure the handheld microphone from the table and transfer it.",
+    "Grab the microphone with textured metal head and give it to the opposite arm.",
+    "Take the handheld microphone and move it to the other hand.",
+    "Grasp the handheld microphone and switch it to another hand.",
+    "Take the black and white microphone, shift it, and release it to the other side.",
+    "Take the black and white microphone using the right arm and transfer it to the left arm.",
+    "Lift the smooth plastic microphone handle and hand it over to the other arm.",
+    "Grab the black and white microphone and smoothly give it to the other arm.",
+    "Lift the microphone for voice recording and hand it to the other side easily.",
+    "Pick the microphone for voice recording from the surface and switch hands.",
+    "Take the microphone with textured metal head, pass it, and release it to complete the task.",
+    "Pick up the handheld microphone and transfer it to the opposite side.",
+    "Pick up the white microphone handle black accents and hand it to the other side.",
+    "Lift the mesh-patterned microphone head, then pass it across without delay.",
+    "Use one hand to grab the microphone with cylindrical handle and pass it.",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Grasp the black and white microphone, transfer it, then let go of it smoothly.",
+    "Grasp the microphone with textured metal head and shift it to the opposite hand.",
+    "Hold the microphone with black tip and white body and pass it to the other hand.",
+    "Lift the microphone with cylindrical handle and hand it to someone else.",
+    "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.",
+    "Take the microphone with cylindrical handle and pass it to another hand",
+    "Use the right arm to grab the handheld microphone and transfer it to the left arm.",
+    "Secure the black and white microphone using one arm and transfer it.",
+    "Hold the metal head microphone with one hand and transfer it",
+    "Pick the mesh-patterned microphone head and transfer it to the other arm.",
+    "Take the mesh-patterned microphone head and move it to another hand.",
+    "Grasp the white microphone handle black accents, then give it to the other arm.",
+    "Reach for the compact size microphone and move it to the other hand.",
+    "Grip the microphone with cylindrical handle and pass it to the other side",
+    "Hold the smooth plastic microphone handle securely and shift it to another arm.",
+    "Lift the microphone with rounded mesh head and deliver it to the other side.",
+    "Grasp the white microphone handle black accents and pass it across.",
+    "Seize the white microphone handle black accents and offer it to the other arm",
+    "Pick up the microphone with rounded mesh head and move it to the opposite side",
+    "Hold the microphone for voice recording firmly and pass it to the other arm.",
+    "Lift the handheld microphone and hand it over to the other side.",
+    "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.",
+    "Use the right arm to hold the smooth plastic microphone handle, then give it to the left arm.",
+    "Lift the microphone with black tip and white body and pass it across.",
+    "Lift the handheld microphone using the right arm and pass it to the left arm.",
+    "Grab the microphone with rounded mesh head and transfer it to another hand",
+    "Use one arm to pick up the white microphone handle black accents and give it to the other.",
+    "Pick up the mesh-patterned microphone head, pass it to the other arm, and release.",
+    "Hold the mesh-patterned microphone head and shift it to the other arm.",
+    "Secure the white microphone handle black accents from the table and transfer it.",
+    "Grab the microphone with rounded mesh head and give it to the opposite arm.",
+    "Take the compact size microphone and move it to the other hand.",
+    "Grasp the microphone with cylindrical handle and switch it to another hand.",
+    "Take the microphone for voice recording, shift it, and release 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 for voice recording and hand it over to the other arm.",
+    "Grab the microphone for voice recording and smoothly give it to the other arm.",
+    "Lift the handheld microphone and hand it to the other side easily.",
+    "Pick the microphone with black tip and white body from the surface and switch hands.",
+    "Take the compact size microphone, pass it, and release it to complete the task.",
+    "Pick up the black and white microphone and transfer it to the opposite side.",
+    "Pick up the metal head microphone and hand it to the other side.",
+    "Lift the compact size microphone, then pass it across without delay.",
+    "Use one hand to grab the smooth plastic microphone handle and pass it.",
+    "Hold the black and white microphone and deliver it to another side.",
+    "Grasp the microphone with cylindrical handle, transfer it, then let go of it smoothly.",
+    "Grasp the compact size microphone and shift it to the opposite hand.",
+    "Hold the microphone with cylindrical handle and pass it to the other hand.",
+    "Lift the microphone with rounded mesh head and hand it to someone else.",
+    "Hold the microphone with rounded mesh head with the right arm and give it to the left arm.",
+    "Take the handheld microphone and pass it to another hand",
+    "Use the right arm to grab the white microphone handle black accents and transfer it to the left arm.",
+    "Secure the microphone with rounded mesh head using one arm and transfer it.",
+    "Hold the metal head microphone with one hand and transfer it",
+    "Pick the microphone for voice recording and transfer it to the other arm.",
+    "Take the microphone with black tip and white body and move it to another hand.",
+    "Grasp the handheld microphone, then give it to the other arm.",
+    "Reach for the black and white microphone and move it to the other hand.",
+    "Grip the compact size microphone and pass it to the other side",
+    "Hold the mesh-patterned microphone head securely and shift it to another arm.",
+    "Lift the compact size microphone and deliver it to the other side.",
+    "Grasp the smooth plastic microphone handle and pass it across.",
+    "Seize the microphone with rounded mesh head and offer it to the other arm",
+    "Pick up the compact size microphone and move it to the opposite side"
+  ],
+  "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 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 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 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 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 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 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 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.",
+    "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 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.",
+    "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 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 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 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 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.",
+    "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 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.",
+    "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.",
+    "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."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.",
+    "Grab the smooth plastic microphone handle and smoothly give it to the other arm.",
+    "Pick up the microphone with black tip and white body and move it to the opposite side",
+    "Take the compact size microphone using the right arm and transfer it to the left arm.",
+    "Lift the mesh-patterned microphone head and hand it over to the other side.",
+    "Hold the microphone with textured metal head with one hand and transfer it",
+    "Grasp the smooth plastic microphone handle, then give it to the other arm.",
+    "Lift the microphone with textured metal head and hand it over to the other arm.",
+    "Lift the white microphone handle black accents using the right arm and pass it to the left arm.",
+    "Hold the microphone with black tip and white body and pass it to the other hand.",
+    "Use one arm to pick up the microphone with black tip and white body and give it to the other.",
+    "Lift the metal head microphone and hand it to the other side easily.",
+    "Reach for the compact size microphone and move it to the other hand.",
+    "Hold the handheld microphone securely and shift it to another arm.",
+    "Hold the microphone with black tip and white body and shift it to the other arm.",
+    "Grab the microphone with textured metal head and transfer it to another hand",
+    "Lift the metal head microphone, then pass it across without delay.",
+    "Secure the black and white microphone using one arm and transfer it.",
+    "Lift the microphone for voice recording and pass it across.",
+    "Pick the mesh-patterned microphone head from the surface and switch hands.",
+    "Secure the microphone for voice recording from the table and transfer it.",
+    "Hold the microphone for voice recording firmly and pass it to the other arm.",
+    "Hold the smooth plastic microphone handle with the right arm and give it to the left arm.",
+    "Grasp the black and white microphone and pass it across.",
+    "Lift the white microphone handle black accents 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.",
+    "Grasp the microphone with black tip and white body and switch it to another hand.",
+    "Take the microphone with cylindrical handle and move it to the other hand.",
+    "Pick up the metal head microphone and transfer it to the opposite side.",
+    "Pick up the microphone for voice recording, pass it to the other arm, and release.",
+    "Pick up the microphone with rounded mesh head and hand it to the other side.",
+    "Take the compact size microphone, pass it, and release it to complete the task.",
+    "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.",
+    "Pick the handheld microphone and transfer it to the other arm.",
+    "Grab the smooth plastic microphone handle and give it to the opposite arm.",
+    "Grip the mesh-patterned microphone head and pass it to the other side",
+    "Use the right arm to hold the mesh-patterned microphone head, then give it to the left arm.",
+    "Lift the compact size microphone and hand it to someone else.",
+    "Take the microphone with cylindrical handle, shift it, and release it to the other side.",
+    "Grasp the compact size microphone and shift it to the opposite hand.",
+    "Seize the black and white microphone and offer it to the other arm",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Use one hand to grab the microphone with black tip and white body and pass it.",
+    "Take the microphone for voice recording and move it to another hand.",
+    "Take the black and white microphone and pass it to another hand",
+    "Grab the black and white microphone using the right arm and pass it over to the left arm.",
+    "Grab the handheld microphone and smoothly give it to the other arm.",
+    "Pick up the black and white microphone and move it to the opposite side",
+    "Take the handheld microphone using the right arm and transfer it to the left arm.",
+    "Lift the black and white microphone and hand it over to the other side.",
+    "Hold the mesh-patterned microphone head with one hand and transfer it",
+    "Grasp the black and white microphone, then give it to the other arm.",
+    "Lift the smooth plastic microphone handle and hand it over to the other arm.",
+    "Lift the white microphone handle black accents using the right arm and pass it to the left arm.",
+    "Hold the metal head microphone and pass it to the other hand.",
+    "Use one arm to pick up the white microphone handle black accents and give it to the other.",
+    "Lift the metal head microphone and hand it to the other side easily.",
+    "Reach for the compact size microphone and move it to the other hand.",
+    "Hold the microphone with textured metal head securely and shift it to another arm.",
+    "Hold the compact size microphone and shift it to the other arm.",
+    "Grab the mesh-patterned microphone head and transfer it to another hand",
+    "Lift the black and white microphone, then pass it across without delay.",
+    "Secure the microphone for voice recording using one arm and transfer it.",
+    "Lift the microphone for voice recording and pass it across.",
+    "Pick the compact size microphone from the surface and switch hands.",
+    "Secure the smooth plastic microphone handle from the table and transfer it.",
+    "Hold the handheld microphone firmly and pass it to the other arm.",
+    "Hold the compact size microphone with the right arm and give it to the left arm.",
+    "Grasp the microphone with black tip and white body and pass it across.",
+    "Lift the microphone with rounded mesh head and deliver it to the other side.",
+    "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.",
+    "Grasp the compact size microphone and switch it to another hand.",
+    "Take the black and white microphone and move it to the other hand.",
+    "Pick up the black and white microphone and transfer it to the opposite side.",
+    "Pick up the white microphone handle black accents, pass it to the other arm, and release.",
+    "Pick up the microphone with textured metal head and hand it to the other side.",
+    "Take the smooth plastic microphone handle, pass it, and release it to complete the task.",
+    "Grasp the metal head microphone, transfer it, then let go of it smoothly.",
+    "Pick the compact size microphone and transfer it to the other arm.",
+    "Grab the microphone with cylindrical handle and give it to the opposite arm.",
+    "Grip the microphone with cylindrical handle and pass it to the other side",
+    "Use the right arm to hold the microphone with cylindrical handle, then give it to the left arm.",
+    "Lift the handheld microphone and hand it to someone else.",
+    "Take the handheld microphone, shift it, and release it to the other side.",
+    "Grasp the black and white microphone and shift it to the opposite hand.",
+    "Seize the microphone for voice recording and offer it to the other arm",
+    "Hold the microphone for voice recording and deliver it to another side.",
+    "Use one hand to grab the white microphone handle black accents and pass it.",
+    "Take the smooth plastic microphone handle and move it to another hand.",
+    "Take the compact size microphone and pass it to another hand",
+    "Grab the microphone with cylindrical handle using the right arm and pass it over to the left arm.",
+    "Grab the white microphone handle black accents and smoothly give it to the other arm.",
+    "Pick up the microphone with textured metal head and move it to the opposite side",
+    "Take the compact size microphone using the right arm and transfer it to the left arm.",
+    "Lift the smooth plastic microphone handle and hand it over to the other side.",
+    "Hold the black and white microphone with one hand and transfer it",
+    "Grasp the microphone with rounded mesh head, then give it to the other arm.",
+    "Lift the black and white microphone and hand it over to the other arm.",
+    "Lift the handheld microphone using the right arm and pass it to the left arm.",
+    "Hold the microphone with black tip and white body and pass it to the other hand."
+  ],
+  "unseen": [
+    "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 from the table and pass 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 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 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 from the table and pass 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.",
+    "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.",
+    "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 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.",
+    "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 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 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.",
+    "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",
+    "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 microphone used for audio input and transfer it to the other hand.",
+    "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.",
+    "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 lightweight handheld microphone and hand it over.",
+    "Pick up the lightweight handheld microphone and transfer it to the other hand.",
+    "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.",
+    "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 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.",
+    "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",
+    "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.",
+    "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 microphone used for audio input from the table and pass 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 microphone used for audio input and transfer it to the other hand.",
+    "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 lightweight handheld microphone from the table and pass 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 lightweight handheld 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.",
+    "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",
+    "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.",
+    "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 black and white plastic microphone from the table and pass 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 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 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.",
+    "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.",
+    "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 black and white plastic microphone from the table and pass 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 lightweight handheld microphone 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.",
+    "Grab the lightweight handheld microphone from the table and pass it across."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one hand to grab the microphone with round foam head and pass it.",
+    "Hold the round head microphone securely and shift it to another arm.",
+    "Take the audio microphone with soft covering and move it to the other hand.",
+    "Pick up the audio microphone with soft covering and move it to the opposite side",
+    "Grab the gray and dark blue microphone and give it to the opposite arm.",
+    "Take the audio microphone with soft covering using the right arm and transfer it to the left arm.",
+    "Lift the microphone covered with foam tip and hand it over to the other arm.",
+    "Take the gray and dark blue microphone and pass it to another hand",
+    "Hold the gray and dark blue microphone with the right arm and give it to the left arm.",
+    "Grasp the audio microphone with soft covering, transfer it, then let go of it smoothly.",
+    "Lift the gray stem microphone with foam top, then pass it across without delay.",
+    "Hold the dark blue microphone and shift it to the other arm.",
+    "Seize the microphone with smooth gray stem and offer it to the other arm",
+    "Pick up the gray stem microphone with foam top and transfer it to the opposite side.",
+    "Grip the audio microphone with soft covering and pass it to the other side",
+    "Lift the microphone for recording sound and pass it across.",
+    "Pick up the microphone with round foam head and hand it to the other side.",
+    "Grab the small audio microphone using the right arm and pass it over to the left arm.",
+    "Grasp the gray stem microphone with foam top and shift it to the opposite hand.",
+    "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 deliver it to the other side.",
+    "Grasp the gray stem microphone with foam top and switch it to another hand.",
+    "Hold the medium microphone with two-tone color firmly and pass it to the other arm.",
+    "Pick the audio microphone with soft covering 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.",
+    "Grasp the medium microphone with two-tone color and pass it across.",
+    "Pick up the dark blue microphone, pass it to the other arm, and release.",
+    "Lift the dark blue microphone and hand it to the other side easily.",
+    "Secure the microphone with smooth gray stem from the table and transfer it.",
+    "Grab the dark blue microphone and smoothly give it to the other arm.",
+    "Grasp the microphone with smooth gray stem, then give it to the other arm.",
+    "Hold the gray and dark blue microphone and deliver it to another side.",
+    "Lift the gray stem microphone with foam top and hand it to someone else.",
+    "Secure the gray stem microphone with foam top using one arm and transfer it.",
+    "Reach for the gray stem microphone with foam top and move it to the other hand.",
+    "Grab the round head microphone and transfer it to another hand",
+    "Hold the gray stem microphone with foam top with one hand and transfer it",
+    "Lift the microphone for recording sound and hand it over to the other side.",
+    "Lift the audio microphone with soft covering using the right arm and pass it to the left arm.",
+    "Take the dark blue microphone, shift it, and release it to the other side.",
+    "Take the gray stem microphone with foam top and move it to another hand.",
+    "Use the right arm to grab the gray and dark blue microphone and transfer it to the left arm.",
+    "Pick the microphone with smooth gray stem from the surface and switch hands.",
+    "Hold the medium microphone with two-tone color and pass it to the other hand.",
+    "Take the microphone with dark blue padding, pass it, and release it to complete the task.",
+    "Use one hand to grab the microphone for recording sound and pass it.",
+    "Hold the audio microphone with soft covering securely and shift it to another arm.",
+    "Take the microphone with dark blue padding and move it to the other hand.",
+    "Pick up the audio microphone with soft covering and move it to the opposite side",
+    "Grab the microphone with round foam head and give it to the opposite arm.",
+    "Take the small audio microphone using the right arm and transfer it to the left arm.",
+    "Lift the microphone for recording sound and hand it over to the other arm.",
+    "Take the round head microphone and pass it to another hand",
+    "Hold the gray and dark blue microphone with the right arm and give it to the left arm.",
+    "Grasp the microphone with dark blue padding, transfer it, then let go of it smoothly.",
+    "Lift the microphone with round foam head, then pass it across without delay.",
+    "Hold the microphone covered with foam tip and shift it to the other arm.",
+    "Seize the round head microphone and offer it to the other arm",
+    "Pick up the microphone with dark blue padding and transfer it to the opposite side.",
+    "Grip the round head microphone and pass it to the other side",
+    "Lift the microphone covered with foam tip and pass it across.",
+    "Pick up the dark blue microphone and hand it to the other side.",
+    "Grab the microphone for recording sound using the right arm and pass it over to the left arm.",
+    "Grasp the gray and dark blue microphone and shift it to the opposite hand.",
+    "Use the right arm to hold the microphone covered with foam tip, then give it to the left arm.",
+    "Lift the microphone with round foam head and deliver it to the other side.",
+    "Grasp the audio microphone with soft covering and switch it to another hand.",
+    "Hold the gray and dark blue microphone firmly and pass it to the other arm.",
+    "Pick the gray stem microphone with foam top and transfer it to the other arm.",
+    "Use one arm to pick up the dark blue microphone and give it to the other.",
+    "Grasp the microphone with smooth gray stem and pass it across.",
+    "Pick up the microphone with dark blue padding, pass it to the other arm, and release.",
+    "Lift the small audio microphone and hand it to the other side easily.",
+    "Secure the small audio microphone from the table and transfer it.",
+    "Grab the microphone with smooth gray stem and smoothly give it to the other arm.",
+    "Grasp the round head microphone, then give it to the other arm.",
+    "Hold the microphone for recording sound and deliver it to another side.",
+    "Lift the small audio microphone and hand it to someone else.",
+    "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.",
+    "Grab the microphone with smooth gray stem and transfer it to another hand",
+    "Hold the round head microphone with one hand and transfer it",
+    "Lift the round head microphone and hand it over to the other side.",
+    "Lift the round head microphone using the right arm and pass it to the left arm.",
+    "Take the microphone with smooth gray stem, shift it, and release it to the other side.",
+    "Take the medium microphone with two-tone color and move it to another hand.",
+    "Use the right arm to grab the microphone with dark blue padding and transfer it to the left arm.",
+    "Pick the medium microphone with two-tone color from the surface and switch hands.",
+    "Hold the round head microphone and pass it to the other hand.",
+    "Take the gray and dark blue microphone, pass it, and release it to complete the task.",
+    "Use one hand to grab the gray and dark blue microphone and pass it.",
+    "Hold the gray and dark blue microphone securely and shift it to another arm.",
+    "Take the microphone for recording sound and move it to the other hand.",
+    "Pick up the gray stem microphone with foam top and move it to the opposite side",
+    "Grab the gray and dark blue microphone and give it to the opposite arm.",
+    "Take the microphone with round foam head using the right arm and transfer it to the left arm.",
+    "Lift the audio microphone with soft covering and hand it over to the other arm.",
+    "Take the microphone with dark blue padding and pass it to another hand",
+    "Hold the dark blue microphone with the right arm and give it to the left arm.",
+    "Grasp the microphone covered with foam tip, transfer it, then let go of it smoothly."
+  ],
+  "unseen": [
+    "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 handheld microphone from the table and pass it across.",
+    "Pick up the microphone with cylindrical handle and hand 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.",
+    "Use one arm to hold the compact microphone with two parts and hand it over.",
+    "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 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 and pass it to the other arm.",
+    "Pick up the microphone with cylindrical handle and transfer it to the other hand.",
+    "Use one arm to hold the compact microphone with two parts and hand it over.",
+    "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 microphone with cylindrical handle 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 and pass it to the other arm.",
+    "Pick up the microphone with cylindrical handle and transfer it to the other hand.",
+    "Use one arm to hold the microphone with cylindrical handle and hand it over.",
+    "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 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 and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "Use one arm to hold the microphone with cylindrical handle and hand it over.",
+    "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 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 and pass it to the other arm.",
+    "Pick up the microphone with cylindrical handle and transfer it to the other hand.",
+    "Use one arm to hold the handheld microphone and hand it over.",
+    "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 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 and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "Use one arm to hold the compact microphone with two parts and hand it over.",
+    "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 from the table and pass it across.",
+    "Pick up the microphone with cylindrical handle and hand 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.",
+    "Use one arm to hold the compact microphone with two parts and hand it over.",
+    "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 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 and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "Use one arm to hold the handheld microphone and hand it over.",
+    "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 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 and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "Use one arm to hold the compact microphone with two parts and hand it over.",
+    "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 microphone with cylindrical handle from the table and pass it across.",
+    "Pick up the handheld microphone and hand it over",
+    "Grab the handheld microphone and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "Use one arm to hold the microphone with cylindrical handle and hand it over.",
+    "Take hold of the handheld microphone and hand it over.",
+    "Grab the handheld microphone from the table and pass it over.",
+    "Grab the microphone with cylindrical handle 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 and pass it to the other arm.",
+    "Pick up the handheld microphone and transfer it to the other hand.",
+    "Use one arm to hold the handheld microphone and hand it over.",
+    "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 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 handheld microphone and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "Use one arm to hold the microphone with cylindrical handle and hand it over.",
+    "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 handheld microphone from the table and pass it across.",
+    "Pick up the microphone with cylindrical handle and hand 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.",
+    "Use one arm to hold the handheld microphone and hand it over.",
+    "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 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 and pass it to the other arm.",
+    "Pick up the compact microphone with two parts and transfer it to the other hand.",
+    "Use one arm to hold the handheld microphone and hand it over.",
+    "Take hold of the compact microphone with two parts and hand it over.",
+    "Grab the handheld microphone from the table and pass it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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.",
+    "Hold the compact size microphone and pass it to the other hand.",
+    "Grab the smooth plastic microphone handle and give it to the opposite arm.",
+    "Grasp the black and white microphone and pass it across.",
+    "Lift the microphone for voice recording and hand it over to the other side.",
+    "Hold the microphone with cylindrical handle with one hand and transfer it",
+    "Hold the compact size microphone securely and shift it to another arm.",
+    "Take the handheld microphone and move it to the other hand.",
+    "Secure the white microphone handle black accents using one arm and transfer it.",
+    "Use one hand to grab the handheld microphone and pass it.",
+    "Take the microphone with rounded mesh head using the left arm and transfer it to the right arm.",
+    "Use the left arm to grab the metal head microphone and transfer it to the right arm.",
+    "Grasp the microphone with cylindrical handle and switch it to another hand.",
+    "Lift the black and white microphone and hand it over to the other arm.",
+    "Seize the metal head microphone and offer it to the other arm",
+    "Grab the smooth plastic microphone handle and smoothly give it to the other arm.",
+    "Pick up the black and white microphone and move it to the opposite side",
+    "Lift the microphone with textured metal head and hand it to someone else.",
+    "Take the microphone with black tip and white body and pass it to another hand",
+    "Use the left arm to hold the white microphone handle black accents, then give it to the right arm.",
+    "Hold the metal head microphone with the left arm and give it to the right arm.",
+    "Grab the white microphone handle black accents and transfer it to another hand",
+    "Grab the microphone with textured metal head using the left arm and pass it over to the right arm.",
+    "Take the microphone for voice recording, shift it, and release it to the other side.",
+    "Pick up the microphone with textured metal head, pass it to the other arm, and release.",
+    "Lift the white microphone handle black accents and pass it across.",
+    "Lift the microphone with black tip and white body and deliver it to the other side.",
+    "Hold the metal head microphone firmly and pass it to the other arm.",
+    "Take the compact size microphone, pass it, and release it to complete the task.",
+    "Pick the microphone with textured metal head and transfer it to the other arm.",
+    "Hold the microphone with textured metal head and shift it to the other arm.",
+    "Take the microphone with cylindrical handle and move it to another hand.",
+    "Grasp the microphone with black tip and white body, then give it to the other arm.",
+    "Grasp the white microphone handle black accents, transfer it, then let go of it smoothly.",
+    "Use one arm to pick up the microphone with cylindrical handle and give it to the other.",
+    "Lift the microphone with textured metal head using the left arm and pass it to the right arm.",
+    "Pick up the compact size microphone and transfer it to the opposite side.",
+    "Grasp the black and white microphone and shift it to the opposite hand.",
+    "Lift the microphone for voice recording, then pass it across without delay.",
+    "Lift the metal head microphone and hand it to the other side easily.",
+    "Pick the mesh-patterned microphone head from the surface and switch hands.",
+    "Pick up the microphone with rounded mesh head and hand it to the other side.",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Reach for the smooth plastic microphone handle and move it to the other hand.",
+    "Grip the smooth plastic microphone handle and pass it to the other side",
+    "Secure the microphone with cylindrical handle from the table and transfer it.",
+    "Hold the handheld microphone and pass it to the other hand.",
+    "Grab the mesh-patterned microphone head and give it to the opposite arm.",
+    "Grasp the microphone for voice recording and pass it across.",
+    "Lift the microphone with cylindrical handle and hand it over to the other side.",
+    "Hold the microphone with textured metal head with one hand and transfer it",
+    "Hold the microphone with cylindrical handle securely and shift it to another arm.",
+    "Take the metal head microphone and move it to the other hand.",
+    "Secure the white microphone handle black accents using one arm and transfer it.",
+    "Use one hand to grab the metal head microphone and pass it.",
+    "Take the mesh-patterned microphone head using the left arm and transfer it to the right arm.",
+    "Use the left arm to grab the smooth plastic microphone handle and transfer it to the right arm.",
+    "Grasp the metal head microphone and switch it to another hand.",
+    "Lift the microphone for voice recording and hand it over to the other arm.",
+    "Seize the microphone with rounded mesh head and offer it to the other arm",
+    "Grab the black and white microphone and smoothly give it to the other arm.",
+    "Pick up the mesh-patterned microphone head and move it to the opposite side",
+    "Lift the microphone with textured metal head and hand it to someone else.",
+    "Take the microphone with rounded mesh head and pass it to another hand",
+    "Use the left arm to hold the mesh-patterned microphone head, then give it to the right arm.",
+    "Hold the mesh-patterned microphone head with the left arm and give it to the right arm.",
+    "Grab the compact size microphone and transfer it to another hand",
+    "Grab the microphone for voice recording using the left arm and pass it over to the right arm.",
+    "Take the metal head microphone, shift it, and release it to the other side.",
+    "Pick up the metal head microphone, pass it to the other arm, and release.",
+    "Lift the compact size microphone and pass it across.",
+    "Lift the microphone with black tip and white body and deliver it to the other side.",
+    "Hold the microphone with rounded mesh head firmly and pass it to the other arm.",
+    "Take the white microphone handle black accents, pass it, and release it to complete the task.",
+    "Pick the black and white microphone and transfer it to the other arm.",
+    "Hold the microphone with black tip and white body and shift it to the other arm.",
+    "Take the handheld microphone and move it to another hand.",
+    "Grasp the microphone with black tip and white body, then give it to the other arm.",
+    "Grasp the microphone for voice recording, transfer it, then let go of it smoothly.",
+    "Use one arm to pick up the handheld microphone and give it to the other.",
+    "Lift the black and white microphone using the left arm and pass it to the right arm.",
+    "Pick up the metal head microphone and transfer it to the opposite side.",
+    "Grasp the microphone with textured metal head and shift it to the opposite hand.",
+    "Lift the microphone with black tip and white body, then pass it across without delay.",
+    "Lift the handheld microphone and hand it to the other side easily.",
+    "Pick the smooth plastic microphone handle from the surface and switch hands.",
+    "Pick up the handheld microphone and hand it to the other side.",
+    "Hold the handheld microphone and deliver it to another side.",
+    "Reach for the black and white microphone and move it to the other hand.",
+    "Grip the compact size microphone and pass it to the other side",
+    "Secure the white microphone handle black accents from the table and transfer it.",
+    "Hold the metal head microphone and pass it to the other hand.",
+    "Grab the black and white microphone and give it to the opposite arm.",
+    "Grasp the handheld microphone and pass it across.",
+    "Lift the handheld microphone and hand it over to the other side.",
+    "Hold the microphone with cylindrical handle with one hand and transfer it",
+    "Hold the handheld microphone securely and shift it to another arm.",
+    "Take the metal head microphone and move it to the other hand.",
+    "Secure the microphone with cylindrical handle using one arm and transfer it."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "Pick up the microphone used for audio input 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 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.",
+    "Pick up the lightweight handheld microphone and hand it over",
+    "Grab the lightweight handheld microphone from the table and pass it across.",
+    "Pick up the microphone used for audio input 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 and pass it to the other arm.",
+    "Grab the black and white plastic microphone from the table and pass 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 across.",
+    "Pick up the black and white plastic 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 and pass it to the other arm.",
+    "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",
+    "Grab the lightweight handheld microphone from the table and pass it across.",
+    "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 lightweight handheld microphone and pass it to the other arm.",
+    "Grab the lightweight handheld microphone from the table and pass it over.",
+    "Pick up the microphone used for audio input and hand it over",
+    "Grab the lightweight handheld microphone from the table and pass it across.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "Grab the lightweight handheld microphone and pass it to the other arm.",
+    "Grab the lightweight handheld microphone from the table and pass 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 across.",
+    "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.",
+    "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.",
+    "Pick up the lightweight handheld microphone and hand it over",
+    "Grab the black and white plastic microphone from the table and pass it across.",
+    "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.",
+    "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 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 across.",
+    "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.",
+    "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.",
+    "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.",
+    "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 lightweight handheld microphone and pass it to the other arm.",
+    "Grab the lightweight handheld microphone from the table and pass it over.",
+    "Pick up the microphone used for audio input and hand it over",
+    "Grab the lightweight handheld microphone from the table and pass it across.",
+    "Pick up the microphone used for audio input 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 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.",
+    "Pick up the lightweight handheld microphone and hand it over",
+    "Grab the microphone used for audio input from the table and pass it across.",
+    "Pick up the microphone used for audio input and transfer it to the other hand.",
+    "Take hold of the lightweight handheld microphone and hand it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the microphone with textured metal head and move it to another hand.",
+    "Hold the microphone with black tip and white body with one hand and transfer it",
+    "Pick the microphone for voice recording and transfer it to the other arm.",
+    "Lift the handheld microphone and hand it to the other side easily.",
+    "Reach for the mesh-patterned microphone head and move it to the other hand.",
+    "Secure the handheld microphone from the table and transfer it.",
+    "Hold the white microphone handle black accents and deliver it to another side.",
+    "Pick up the microphone with black tip and white body and transfer it to the opposite side.",
+    "Grasp the black and white microphone and shift it to the opposite hand.",
+    "Use one arm to pick up the handheld microphone and give it to the other.",
+    "Pick up the handheld microphone and hand it to the other side.",
+    "Take the microphone for voice recording and pass it to another hand",
+    "Hold the metal head microphone with the right arm and give it to the left arm.",
+    "Hold the microphone with rounded mesh head and shift it to the other arm.",
+    "Hold the microphone with black tip and white body and pass it to the other hand.",
+    "Lift the metal head microphone and hand it over to the other side.",
+    "Lift the white microphone handle black accents and pass it across.",
+    "Take the metal head microphone, pass it, and release it to complete the task.",
+    "Take the microphone with cylindrical handle and move it to the other hand.",
+    "Take the smooth plastic microphone handle 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 arm.",
+    "Hold the microphone with textured metal head firmly and pass it to the other arm.",
+    "Grasp the microphone for voice recording, then give it to the other arm.",
+    "Take the white microphone handle black accents, shift it, and release it to the other side.",
+    "Use one hand to grab the black and white microphone and pass it.",
+    "Lift the white microphone handle black accents and hand it to someone else.",
+    "Seize the white microphone handle black accents and offer it to the other arm",
+    "Grab the microphone with textured metal head using the right arm and pass it over to the left arm.",
+    "Use the right arm to grab the handheld microphone and transfer it to the left arm.",
+    "Pick up the microphone for voice recording, pass it to the other arm, and release.",
+    "Hold the handheld microphone securely and shift it to another arm.",
+    "Grab the microphone with black tip and white body and transfer it to another hand",
+    "Pick up the microphone with rounded mesh head and move it to the opposite side",
+    "Lift the microphone for voice recording, then pass it across without delay.",
+    "Grab the compact size microphone and give it to the opposite arm.",
+    "Lift the handheld microphone using the right arm and pass it to the left arm.",
+    "Pick the microphone with textured metal head from the surface and switch hands.",
+    "Use the right arm to hold the compact size microphone, then give it to the left arm.",
+    "Grasp the handheld microphone, transfer it, then let go of it smoothly.",
+    "Grasp the microphone with black tip and white body and pass it across.",
+    "Grab the microphone with black tip and white body and smoothly give it to the other arm.",
+    "Secure the microphone with rounded mesh head using one arm and transfer it.",
+    "Lift the smooth plastic microphone handle and deliver it to the other side.",
+    "Grasp the smooth plastic microphone handle and switch it to another hand.",
+    "Grip the microphone for voice recording and pass it to the other side",
+    "Take the microphone with rounded mesh head and move it to another hand.",
+    "Hold the microphone with black tip and white body with one hand and transfer it",
+    "Pick the compact size microphone and transfer it to the other arm.",
+    "Lift the handheld microphone and hand it to the other side easily.",
+    "Reach for the metal head microphone and move it to the other hand.",
+    "Secure the microphone for voice recording from the table and transfer it.",
+    "Hold the metal head microphone and deliver it to another side.",
+    "Pick up the white microphone handle black accents and transfer it to the opposite side.",
+    "Grasp the handheld microphone and shift it to the opposite hand.",
+    "Use one arm to pick up the smooth plastic microphone handle and give it to the other.",
+    "Pick up the black and white microphone and hand it to the other side.",
+    "Take the microphone with black tip and white body and pass it to another hand",
+    "Hold the black and white microphone with the right arm and give it to the left arm.",
+    "Hold the handheld microphone and shift it to the other arm.",
+    "Hold the black and white microphone and pass it to the other hand.",
+    "Lift the microphone with black tip and white body and hand it over to the other side.",
+    "Lift the white microphone handle black accents and pass it across.",
+    "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.",
+    "Take the microphone with cylindrical handle using the right arm and transfer it to the left arm.",
+    "Lift the microphone for voice recording and hand it over to the other arm.",
+    "Hold the smooth plastic microphone handle firmly and pass it to the other arm.",
+    "Grasp the metal head microphone, then give it to the other arm.",
+    "Take the microphone with black tip and white body, shift it, and release it to the other side.",
+    "Use one hand to grab the white microphone handle black accents and pass it.",
+    "Lift the handheld microphone and hand it to someone else.",
+    "Seize the microphone with black tip and white body and offer it to the other arm",
+    "Grab the white microphone handle black accents using the right arm and pass it over to the left arm.",
+    "Use the right arm to grab the microphone with rounded mesh head and transfer it to the left arm.",
+    "Pick up the microphone with textured metal head, pass it to the other arm, and release.",
+    "Hold the compact size microphone securely and shift it to another arm.",
+    "Grab the black and white microphone and transfer it to another hand",
+    "Pick up the white microphone handle black accents and move it to the opposite side",
+    "Lift the microphone for voice recording, then pass it across without delay.",
+    "Grab the microphone with black tip and white body and give it to the opposite arm.",
+    "Lift the microphone with cylindrical handle using the right arm and pass it to the left arm.",
+    "Pick the microphone with cylindrical handle from the surface and switch hands.",
+    "Use the right arm to hold the black and white microphone, then give it to the left arm.",
+    "Grasp the microphone with textured metal head, transfer it, then let go of it smoothly.",
+    "Grasp the microphone with black tip and white body and pass it across.",
+    "Grab the black and white microphone and smoothly give it to the other arm.",
+    "Secure the black and white microphone using one arm and transfer it.",
+    "Lift the microphone with rounded mesh head and deliver it to the other side.",
+    "Grasp the microphone with cylindrical handle and switch it to another hand.",
+    "Grip the microphone with textured metal head and pass it to the other side",
+    "Take the microphone for voice recording and move it to another hand.",
+    "Hold the smooth plastic microphone handle with one hand and transfer it",
+    "Pick the microphone for voice recording and transfer it to the other arm.",
+    "Lift the microphone with textured metal head and hand it to the other side easily.",
+    "Reach for the handheld microphone and move it to the other hand.",
+    "Secure the microphone with textured metal head from the table and transfer it.",
+    "Hold the microphone with textured metal head and deliver it to another side.",
+    "Pick up the metal head microphone and transfer it to the opposite side.",
+    "Grasp the microphone for voice recording and shift it to the opposite hand.",
+    "Use one arm to pick up the white microphone handle black accents and give it to the other."
+  ],
+  "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 and pass it to the other arm.",
+    "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.",
+    "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 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 and pass it to the other arm.",
+    "Grab the lightweight handheld microphone from the table and pass it over.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 black and white plastic microphone from the table and pass it over.",
+    "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 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 lightweight handheld microphone and transfer it to the other hand.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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 over.",
+    "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.",
+    "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.",
+    "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 over.",
+    "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 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 and pass it to the other arm.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Pick up the lightweight handheld microphone and hand 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 over.",
+    "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.",
+    "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 and pass it to the other arm.",
+    "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.",
+    "Pick up the lightweight handheld 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.",
+    "Pick up the lightweight handheld microphone and transfer it to the other hand."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the microphone with black tip and white body and hand it to the other side.",
+    "Lift the microphone with black tip and white body and hand it over to the other side.",
+    "Grasp the smooth plastic microphone handle, then give it to the other arm.",
+    "Grasp the white microphone handle black accents and shift it to the opposite hand.",
+    "Pick up the microphone with textured metal head and move it to the opposite side",
+    "Take the metal head microphone, shift it, and release it to the other side.",
+    "Lift the metal head microphone and pass it across.",
+    "Hold the white microphone handle black accents and shift it to the other arm.",
+    "Grasp the smooth plastic microphone handle and switch it to another hand.",
+    "Lift the white microphone handle black accents and hand it over to the other arm.",
+    "Take the white microphone handle black accents using the right arm and transfer it to the left arm.",
+    "Use one hand to grab the microphone with rounded mesh head and pass it.",
+    "Take the smooth plastic microphone handle and move it to the other hand.",
+    "Hold the handheld microphone and pass it to the other hand.",
+    "Grab the mesh-patterned microphone head and transfer it to another hand",
+    "Pick up the microphone with black tip and white body and transfer it to the opposite side.",
+    "Hold the compact size microphone and deliver it to another side.",
+    "Pick the white microphone handle black accents from the surface and switch hands.",
+    "Grip the smooth plastic microphone handle and pass it to the other side",
+    "Hold the microphone with black tip and white body securely and shift it to another arm.",
+    "Use the right arm to hold the handheld microphone, then give it to the left arm.",
+    "Use the right arm to grab the handheld microphone and transfer it to the left arm.",
+    "Grasp the microphone with textured metal head and pass it across.",
+    "Grab the microphone with rounded mesh head and smoothly give it to the other arm.",
+    "Lift the microphone with textured metal head and hand it to someone else.",
+    "Use one arm to pick up the microphone with cylindrical handle and give it to the other.",
+    "Secure the smooth plastic microphone handle from the table and transfer it.",
+    "Lift the mesh-patterned microphone head and hand it to the other side easily.",
+    "Grab the metal head microphone using the right arm and pass it over to the left arm.",
+    "Reach for the white microphone handle black accents and move it to the other hand.",
+    "Hold the white microphone handle black accents with the right arm and give it to the left arm.",
+    "Pick up the microphone with black tip and white body, pass it to the other arm, and release.",
+    "Lift the black and white microphone and deliver it to the other side.",
+    "Seize the white microphone handle black accents and offer it to the other arm",
+    "Take the black and white microphone and move it to another hand.",
+    "Lift the black and white microphone, then pass it across without delay.",
+    "Grab the smooth plastic microphone handle and give it to the opposite arm.",
+    "Lift the handheld microphone using the right arm and pass it to the left arm.",
+    "Take the metal head microphone, pass it, and release it to complete the task.",
+    "Secure the handheld microphone using one arm and transfer it.",
+    "Hold the handheld microphone with one hand and transfer it",
+    "Grasp the smooth plastic microphone handle, transfer it, then let go of it smoothly.",
+    "Hold the metal head microphone firmly and pass it to the other arm.",
+    "Pick the white microphone handle black accents and transfer it to the other arm.",
+    "Take the smooth plastic microphone handle and pass it to another hand",
+    "Pick up the microphone with rounded mesh head 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, then give it to the other arm.",
+    "Grasp the handheld microphone and shift it to the opposite hand.",
+    "Pick up the smooth plastic microphone handle and move it to the opposite side",
+    "Take the black and white microphone, shift it, and release it to the other side.",
+    "Lift the smooth plastic microphone handle and pass it across.",
+    "Hold the black and white microphone and shift it to the other arm.",
+    "Grasp the black and white microphone and switch it to another hand.",
+    "Lift the smooth plastic microphone handle and hand it over to the other arm.",
+    "Take the microphone with rounded mesh head using the right arm and transfer it to the left arm.",
+    "Use one hand to grab the compact size microphone and pass it.",
+    "Take the microphone with rounded mesh head and move it to the other hand.",
+    "Hold the smooth plastic microphone handle and pass it to the other hand.",
+    "Grab the microphone with black tip and white body and transfer it to another hand",
+    "Pick up the microphone with cylindrical handle and transfer it to the opposite side.",
+    "Hold the metal head microphone and deliver it to another side.",
+    "Pick the handheld microphone from the surface and switch hands.",
+    "Grip the handheld microphone and pass it to the other side",
+    "Hold the mesh-patterned microphone head securely and shift it to another arm.",
+    "Use the right arm to hold the handheld microphone, then give it to the left arm.",
+    "Use the right arm to grab the microphone with black tip and white body and transfer it to the left arm.",
+    "Grasp the smooth plastic microphone handle and pass it across.",
+    "Grab the microphone for voice recording and smoothly give it to the other arm.",
+    "Lift the mesh-patterned microphone head and hand it to someone else.",
+    "Use one arm to pick up the microphone with rounded mesh head and give it to the other.",
+    "Secure the smooth plastic microphone handle from the table and transfer it.",
+    "Lift the black and white microphone and hand it to the other side easily.",
+    "Grab the microphone for voice recording using the right arm and pass it over to the left arm.",
+    "Reach for the black and white microphone and move it to the other hand.",
+    "Hold the metal head microphone with the right arm and give it to the left arm.",
+    "Pick up the metal head microphone, pass it to the other arm, and release.",
+    "Lift the microphone with rounded mesh head and deliver it to the other side.",
+    "Seize the handheld microphone and offer it to the other arm",
+    "Take the smooth plastic microphone handle and move it to another hand.",
+    "Lift the handheld microphone, then pass it across without delay.",
+    "Grab the handheld microphone and give it to the opposite arm.",
+    "Lift the handheld microphone using the right arm and pass it to the left arm.",
+    "Take the mesh-patterned microphone head, pass it, and release it to complete the task.",
+    "Secure the metal head microphone using one arm and transfer it.",
+    "Hold the white microphone handle black accents with one hand and transfer it",
+    "Grasp the microphone with rounded mesh head, transfer it, then let go of it smoothly.",
+    "Hold the white microphone handle black accents firmly and pass it to the other arm.",
+    "Pick the mesh-patterned microphone head and transfer it to the other arm.",
+    "Take the white microphone handle black accents and pass it to another hand",
+    "Pick up the black and white microphone and hand it to the other side.",
+    "Lift the black and white microphone and hand it over to the other side.",
+    "Grasp the microphone with rounded mesh head, then give it to the other arm.",
+    "Grasp the mesh-patterned microphone head and shift it to the opposite hand.",
+    "Pick up the microphone with rounded mesh head and move it to the opposite side",
+    "Take the white microphone handle black accents, shift it, and release it to the other side.",
+    "Lift the white microphone handle black accents and pass it across.",
+    "Hold the microphone with rounded mesh head and shift it to the other arm.",
+    "Grasp the black and white microphone and switch it to another hand.",
+    "Lift the smooth plastic microphone handle and hand it over to the other arm."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 black and white plastic microphone from the table and pass it across.",
+    "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.",
+    "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.",
+    "Pick up the lightweight handheld microphone 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.",
+    "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.",
+    "Grab the black and white plastic microphone from the table and pass it across.",
+    "Pick up the lightweight handheld 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.",
+    "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 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.",
+    "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 microphone used for audio input 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 lightweight handheld microphone from the table and pass it over.",
+    "Grab the black and white plastic microphone from the table and pass it across.",
+    "Pick up the lightweight handheld microphone 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.",
+    "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 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.",
+    "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.",
+    "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 microphone used for audio input from the table and pass it over.",
+    "Grab the lightweight handheld microphone from the table and pass it across.",
+    "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 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 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 from the table and pass it across.",
+    "Pick up 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "Grab the lightweight handheld microphone from the table and pass it over.",
+    "Grab the lightweight handheld microphone from the table and pass it across.",
+    "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.",
+    "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 microphone used for audio input from the table and pass it across.",
+    "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.",
+    "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.",
+    "Pick up the lightweight handheld 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.",
+    "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 black and white plastic microphone from the table and pass it across.",
+    "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.",
+    "Take hold of the lightweight handheld microphone and hand it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the textured white microphone head, shift it, and release it to the other side.",
+    "Secure the sound microphone with teal body using one arm and transfer it.",
+    "Grasp the compact teal and white microphone, then give it to the other arm.",
+    "Grasp the plastic teal microphone with slider, transfer it, then let go of it smoothly.",
+    "Pick the compact teal and white microphone and transfer it to the other arm.",
+    "Pick the long microphone with smooth teal grip from the surface and switch hands.",
+    "Use the right arm to hold the handheld teal microphone, then give it to the left arm.",
+    "Pick up the plastic teal microphone with slider and transfer it to the opposite side.",
+    "Take the textured white microphone head and move it to the other hand.",
+    "Grip the teal microphone and pass it to the other side",
+    "Use the right arm to grab the white and teal sound microphone and transfer it to the left arm.",
+    "Lift the sound microphone with teal body and hand it to the other side easily.",
+    "Grasp the microphone with white rounded head and switch it to another hand.",
+    "Use one arm to pick up the white bottom microphone with textured tip and give it to the other.",
+    "Pick up the textured white microphone head, pass it to the other arm, and release.",
+    "Lift the textured white microphone head and pass it across.",
+    "Hold the textured white microphone head securely and shift it to another arm.",
+    "Take the white and teal sound microphone and pass it to another hand",
+    "Lift the long microphone with smooth teal grip and hand it over to the other side.",
+    "Hold the textured white microphone head and pass it to the other hand.",
+    "Reach for the sound microphone with teal body and move it to the other hand.",
+    "Hold the sound microphone with teal body with the right arm and give it to the left arm.",
+    "Grasp the handheld teal microphone and pass it across.",
+    "Hold the rounded white tip microphone with one hand and transfer it",
+    "Lift the sound microphone with teal body and hand it over to the other arm.",
+    "Hold the microphone with slider switch firmly and pass it to the other arm.",
+    "Use one hand to grab the sound microphone with teal body and pass it.",
+    "Lift the plastic teal microphone with slider and deliver it to the other side.",
+    "Lift the white bottom microphone with textured tip, then pass it across without delay.",
+    "Seize the teal microphone and offer it to the other arm",
+    "Hold the teal microphone and deliver it to another side.",
+    "Secure the handheld teal microphone from the table and transfer it.",
+    "Grasp the sound microphone with teal body and shift it to the opposite hand.",
+    "Grab the compact teal and white microphone using the right arm and pass it over to the left arm.",
+    "Take the rounded white tip microphone, pass it, and release it to complete the task.",
+    "Grab the plastic teal microphone with slider and transfer it to another hand",
+    "Lift the sound microphone with teal body and hand it to someone else.",
+    "Grab the white and teal sound microphone and smoothly give it to the other arm.",
+    "Hold the plastic teal microphone with slider and shift it to the other arm.",
+    "Take the sound microphone with teal body using the right arm and transfer it to the left arm.",
+    "Pick up the long microphone with smooth teal grip and move it to the opposite side",
+    "Pick up the teal microphone and hand it to the other side.",
+    "Grab the plastic teal microphone with slider and give it to the opposite arm.",
+    "Lift the rounded white tip microphone using the right arm and pass it to the left arm.",
+    "Take the teal microphone and move it to another hand.",
+    "Take the compact teal and white microphone, shift it, and release it to the other side.",
+    "Secure the rounded white tip microphone using one arm and transfer it.",
+    "Grasp the teal microphone, then give it to the other arm.",
+    "Grasp the teal microphone, transfer it, then let go of it smoothly.",
+    "Pick the long microphone with smooth teal grip and transfer it to the other arm.",
+    "Pick the handheld teal microphone from the surface and switch hands.",
+    "Use the right arm to hold the microphone with slider switch, then give it to the left arm.",
+    "Pick up the white and teal sound microphone and transfer it to the opposite side.",
+    "Take the teal microphone and move it to the other hand.",
+    "Grip the microphone with slider switch and pass it to the other side",
+    "Use the right arm to grab the teal microphone and transfer it to the left arm.",
+    "Lift the teal microphone and hand it to the other side easily.",
+    "Grasp the rounded white tip microphone and switch it to another hand.",
+    "Use one arm to pick up the sound microphone with teal body and give it to the other.",
+    "Pick up the plastic teal microphone with slider, pass it to the other arm, and release.",
+    "Lift the plastic teal microphone with slider and pass it across.",
+    "Hold the microphone with slider switch securely and shift it to another arm.",
+    "Take the long microphone with smooth teal grip and pass it to another hand",
+    "Lift the handheld teal microphone and hand it over to the other side.",
+    "Hold the teal microphone and pass it to the other hand.",
+    "Reach for the handheld teal microphone and move it to the other hand.",
+    "Hold the white and teal sound microphone with the right arm and give it to the left arm.",
+    "Grasp the textured white microphone head and pass it across.",
+    "Hold the white and teal sound microphone with one hand and transfer it",
+    "Lift the textured white microphone head and hand it over to the other arm.",
+    "Hold the plastic teal microphone with slider firmly and pass it to the other arm.",
+    "Use one hand to grab the rounded white tip microphone and pass it.",
+    "Lift the rounded white tip microphone and deliver it to the other side.",
+    "Lift the microphone with white rounded head, then pass it across without delay.",
+    "Seize the sound microphone with teal body and offer it to the other arm",
+    "Hold the handheld teal microphone and deliver it to another side.",
+    "Secure the handheld teal microphone from the table and transfer it.",
+    "Grasp the sound microphone with teal body and shift it to the opposite hand.",
+    "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, pass it, and release it to complete the task.",
+    "Grab the microphone with white rounded head and transfer it to another hand",
+    "Lift the long microphone with smooth teal grip and hand it to someone else.",
+    "Grab the microphone with slider switch and smoothly give it to the other arm.",
+    "Hold the teal microphone and shift it to the other arm.",
+    "Take the teal microphone using the right arm and transfer it to the left arm.",
+    "Pick up the rounded white tip microphone and move it to the opposite side",
+    "Pick up the handheld teal microphone and hand it to the other side.",
+    "Grab the handheld teal microphone and give it to the opposite arm.",
+    "Lift the microphone with slider switch using the right arm and pass it to the left arm.",
+    "Take the microphone with white rounded head and move it to another hand.",
+    "Take the long microphone with smooth teal grip, shift it, and release it to the other side.",
+    "Secure the microphone with white rounded head using one arm and transfer it.",
+    "Grasp the teal microphone, then give it to the other arm.",
+    "Grasp the rounded white tip microphone, transfer it, then let go of it smoothly.",
+    "Pick the microphone with white rounded head and transfer it to the other arm.",
+    "Pick the textured white microphone head from the surface and switch hands.",
+    "Use the right arm to hold the plastic teal microphone with slider, then give it to the left arm.",
+    "Pick up the handheld teal microphone and transfer it to the opposite side.",
+    "Take the white bottom microphone with textured tip and move it to the other hand.",
+    "Grip the teal microphone and pass it to the other side"
+  ],
+  "unseen": [
+    "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 and pass it to the other arm.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "Grab the long teal microphone with white grooves 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 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.",
+    "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.",
+    "Grab the long teal microphone with white grooves 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 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.",
+    "Take hold of 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.",
+    "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",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "Grab the long teal microphone with white grooves 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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "Take hold of the switchable microphone with teal body and hand it over."
+  ]
+}

handover_mic/demo_clean_ep20_vidar/scene_info.json

@@ -0,0 +1,242 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "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}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base4",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "018_microphone/base5",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    }
+}

handover_mic/demo_clean_ep20_vidar/seed.txt

@@ -0,0 +1 @@
+0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 16 17 18 19 20 

hanging_mug/demo_clean_ep20_vidar/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the drinking mug, flip it, set it down, and then attach it to the rack with two rods sticking out.",
+    "Use your left arm to grab the mug with rounded handle, rotate it, set it down, then hang on the angular rack with slanted support rod.",
+    "Lift the black mug for liquids, rotate it, put it down in the table's center, then hang it onto the metal rack.",
+    "Pick the black mug, turn it, put it in the center, and transfer it to the metallic angular rack with rod pair.",
+    "Take the black mug from the table, rotate it, place it in the center, then hang it onto the rack with angular body.",
+    "Take the drinking mug from the table, turn it, set it down, and attach it to the rack with angular body.",
+    "Pick up the black mug with handle, turn it, place it centrally, then hang the black mug with handle onto the angular rack with slanted support rod.",
+    "With the left arm, grab the drinking mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth rack.",
+    "Take the mug with rounded handle, rotate it, place it back on the table, and hang it on the rack with two rods sticking out afterward.",
+    "Grab the mug with rounded handle, rotate it, place it in the middle, and hang it onto the medium rack with protruding rods.",
+    "Use the left arm to lift the cylindrical black mug, rotate it, put it down, then hook onto the angled rack with long and short rods.",
+    "Lift the black mug with smooth surface, turn it around, set it in the middle, and place it on the metallic rack with smooth finish.",
+    "Use the left arm to grab the black mug with handle, rotate it, set it down, then hang the black mug with handle onto the dark gray rack.",
+    "Use the left arm to grab the mug with rounded handle, rotate it, place it down, and hang it onto the metallic rack with smooth finish with the right arm.",
+    "Use the left arm to grab the mug with thick sturdy handle, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.",
+    "Use the right arm to lift the black mug for liquids, rotate it, and attach it to the rack with two rods sticking out after setting it down.",
+    "Take the hand-sized black mug with one arm, rotate it, and hang it onto the medium rack with protruding rods.",
+    "Lift the hand-sized black mug, twist it, set it back, and secure it onto the rack with angular body.",
+    "Pick the solid black ceramic mug up, twist it, place it back, then hang it onto the angular rack with slanted support rod.",
+    "Lift the hand-sized black mug, give it a turn, and hang it onto the metallic angular rack with rod pair.",
+    "Use your left arm to grab the solid black ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack.",
+    "Take the cylindrical black mug, rotate it, place it in the center, then hang it on the rack with two rods sticking out.",
+    "Grab the black mug with handle, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
+    "Pick the black mug with handle from the table, rotate it, place it, and then hang it onto the smooth rack.",
+    "Grab the mug with thick sturdy handle from the table, rotate it, place it, and hang it onto the rack with angular body.",
+    "Take the mug with rounded handle, rotate it, set it on the table's center, then hang it onto the angled rack with long and short rods.",
+    "Lift the black mug with handle from the table, turn it, put it down in the middle, then hang it onto the metal rack.",
+    "Use the left arm to pick the black coffee mug, turn it, place it, then hang on the medium rack with protruding rods.",
+    "Take the solid black ceramic mug from the table, spin it, place it in the center, then hang it on the metal rack.",
+    "Take the black mug for liquids, rotate it, set it in the middle, then hang it on the dark gray rack.",
+    "With the left arm, pick the drinking mug, rotate it, place it, then hang it onto the dark gray rack.",
+    "Lift the hand-sized black mug from the table, rotate it, place it in the middle, and hang it on the smooth dark gray rack.",
+    "Grab the hand-sized black mug, rotate it, place it on the table, and hook it onto the angular rack with slanted support rod.",
+    "Lift the hand-sized black mug, turn it, place it back, and move it onto the dark gray rack with the right arm.",
+    "Using your left arm, lift the black mug, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.",
+    "Use your left arm to pick the cylindrical black mug, rotate it, set it down, and hang it onto the medium rack with protruding rods.",
+    "Use one arm to grab the drinking mug, turn it, set it centrally, and use the other to hang it onto the metallic rack with smooth finish.",
+    "With the left arm, grab the black mug, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack.",
+    "Using the left arm, pick the black coffee mug, turn it, place it down, and hang it on the smooth dark gray rack.",
+    "Pick the drinking mug from the table using one hand, rotate, and hang it on the smooth rack.",
+    "Grab the solid black ceramic mug, turn it around, put it back, then attach it to the rack with angular body.",
+    "Pick the black mug using your left arm, turn it, set it on the table, and hang it on the smooth dark gray rack with the right arm.",
+    "Use the left arm to grab the black mug, flip it, set it down, and then attach it to the dark gray angled rack.",
+    "Use your left arm to grab the black mug with handle, rotate it, set it down, then hang on the dark gray rack.",
+    "Lift the mug with rounded handle, rotate it, put it down in the table's center, then hang it onto the medium rack with protruding rods.",
+    "Pick the black mug, turn it, put it in the center, and transfer it to the angular rack with slanted support rod.",
+    "Take the black mug with handle from the table, rotate it, place it in the center, then hang it onto the angled rack with long and short rods.",
+    "Take the black coffee mug from the table, turn it, set it down, and attach it to the dark gray rack.",
+    "Pick up the black coffee mug, turn it, place it centrally, then hang the black coffee mug onto the angled rack with long and short rods.",
+    "With the left arm, grab the smooth black ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods.",
+    "Take the black mug with smooth surface, rotate it, place it back on the table, and hang it on the rack with angular body afterward.",
+    "Grab the mug with thick sturdy handle, rotate it, place it in the middle, and hang it onto the dark gray rack.",
+    "Use the left arm to lift the solid black ceramic mug, rotate it, put it down, then hook onto the medium rack with protruding rods.",
+    "Lift the mug with thick sturdy handle, turn it around, set it in the middle, and place it on the dark gray rack.",
+    "Use the left arm to grab the black mug, rotate it, set it down, then hang the black mug onto the angled rack with long and short rods.",
+    "Use the left arm to grab the black mug with handle, rotate it, place it down, and hang it onto the angled rack with long and short rods with the right arm.",
+    "Use the left arm to grab the black mug with smooth surface, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.",
+    "Use the right arm to lift the cylindrical black mug, rotate it, and attach it to the rack with angular body after setting it down.",
+    "Take the black coffee mug with one arm, rotate it, and hang it onto the rack with two rods sticking out.",
+    "Lift the mug with rounded handle, twist it, set it back, and secure it onto the dark gray rack.",
+    "Pick the mug with thick sturdy handle up, twist it, place it back, then hang it onto the rack with two rods sticking out.",
+    "Lift the black mug, give it a turn, and hang it onto the rack with two rods sticking out.",
+    "Use your left arm to grab the mug with thick sturdy handle, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Take the cylindrical black mug, rotate it, place it in the center, then hang it on the medium rack with protruding rods.",
+    "Grab the mug with thick sturdy handle, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Pick the mug with rounded handle from the table, rotate it, place it, and then hang it onto the rack with angular body.",
+    "Grab the black mug from the table, rotate it, place it, and hang it onto the smooth rack.",
+    "Take the black mug, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Lift the black coffee mug from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.",
+    "Use the left arm to pick the black mug, turn it, place it, then hang on the metal rack.",
+    "Take the smooth black ceramic mug from the table, spin it, place it in the center, then hang it on the metal rack.",
+    "Take the black mug, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod.",
+    "With the left arm, pick the drinking mug, rotate it, place it, then hang it onto the smooth rack.",
+    "Lift the mug with rounded handle from the table, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "Grab the black coffee mug, rotate it, place it on the table, and hook it onto the medium rack with protruding rods.",
+    "Lift the black mug with smooth surface, turn it, place it back, and move it onto the dark gray angled rack with the right arm.",
+    "Using your left arm, lift the hand-sized black mug, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.",
+    "Use your left arm to pick the cylindrical black mug, rotate it, set it down, and hang it onto the smooth rack.",
+    "Use one arm to grab the smooth black ceramic mug, turn it, set it centrally, and use the other to hang it onto the rack with two rods sticking out.",
+    "With the left arm, grab the hand-sized black mug, spin it, place it down, then use the right arm to hang it on the dark gray angled rack.",
+    "Using the left arm, pick the solid black ceramic mug, turn it, place it down, and hang it on the metallic rack with smooth finish.",
+    "Pick the mug with thick sturdy handle from the table using one hand, rotate, and hang it on the smooth rack.",
+    "Grab the black mug with handle, turn it around, put it back, then attach it to the rack with angular body.",
+    "Pick the mug with rounded handle using your left arm, turn it, set it on the table, and hang it on the rack with two rods sticking out with the right arm.",
+    "Use the left arm to grab the black mug for liquids, flip it, set it down, and then attach it to the smooth rack.",
+    "Use your left arm to grab the black coffee mug, rotate it, set it down, then hang on the metallic rack with smooth finish.",
+    "Lift the mug with thick sturdy handle, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair.",
+    "Pick the hand-sized black mug, turn it, put it in the center, and transfer it to the angled rack with long and short rods.",
+    "Take the smooth black ceramic mug from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.",
+    "Take the mug with thick sturdy handle from the table, turn it, set it down, and attach it to the smooth rack.",
+    "Pick up the black mug for liquids, turn it, place it centrally, then hang the black mug for liquids onto the metallic rack with smooth finish.",
+    "With the left arm, grab the black mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.",
+    "Take the black mug with handle, rotate it, place it back on the table, and hang it on the metal rack afterward.",
+    "Grab the mug with rounded handle, rotate it, place it in the middle, and hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to lift the black mug, rotate it, put it down, then hook onto the medium rack with protruding rods.",
+    "Lift the cylindrical black mug, turn it around, set it in the middle, and place it on the angular rack with slanted support rod.",
+    "Use the left arm to grab the hand-sized black mug, rotate it, set it down, then hang the hand-sized black mug onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the solid black ceramic mug, rotate it, place it down, and hang it onto the rack with two rods sticking out with the right arm.",
+    "Use the left arm to grab the hand-sized black mug, rotate it, place it in the middle, then use the right arm to hang it onto the metallic angular rack with rod pair.",
+    "Use the right arm to lift the mug with thick sturdy handle, rotate it, and attach it to the medium rack with protruding rods after setting it down."
+  ],
+  "unseen": [
+    "Pick the medium black mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the matte black mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick up the matte black mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the matte black mug from the table, rotate it, and set it in the center. Then hang the matte black mug on the dark gray rack with flat back.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick up the medium black mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the matte black mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the matte black mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the matte black mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the matte black mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the matte black mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the medium black mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the medium black mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick up the matte black mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Lift the medium black mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the medium black mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the medium-sized rack.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the matte black mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Pick the medium black mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the medium black mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the ceramic mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick up the matte black mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Lift the medium black mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the ceramic mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the medium-sized rack.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the medium black mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the matte black mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick up the ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the medium black mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the medium black mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the medium-sized rack.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the matte black mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the matte black mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick up the medium black mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Lift the matte black mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the medium black mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the medium black mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick up the matte black mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Lift the matte black mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the matte black mug from the table, rotate it, and set it in the center. Then hang the matte black mug on the medium-sized rack.",
+    "Pick the ceramic mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the medium black mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the medium black mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick up the medium black mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Lift the ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the medium black mug from the table, rotate it, and set it in the center. Then hang the medium black mug on the dark gray rack with flat back.",
+    "Pick the medium black mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the matte black mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the matte black mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick up the matte black mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Lift the matte black mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the matte black mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the ceramic mug from the table, rotate it, and set it in the center. Then hang the ceramic mug on the medium-sized rack.",
+    "Pick the matte black mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the ceramic mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the medium black mug, turn it, set it on the table, then hang it on the dark gray rack with flat back."
+  ]
+}

hanging_mug/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the drinking mug shiny black exterior, rotate it, set it down, then hang the drinking mug shiny black exterior onto the medium rack with protruding rods.",
+    "Use the left arm to grab the cylindrical mug with black finish, rotate it, place it in the middle, then use the right arm to hang it onto the angled rack with long and short rods.",
+    "Lift the black ceramic mug from the table, turn it, put it down in the middle, then hang it onto the rack with angular body.",
+    "With the left arm, grab the glossy black mug medium-sized for drinking from the table, rotate it, place it centrally, and with the right arm, hang it onto the dark gray rack.",
+    "Pick the ceramic mug smooth outside, turn it, put it in the center, and transfer it to the dark gray rack.",
+    "Take the drinking mug shiny black exterior from the table, turn it, set it down, and attach it to the medium rack with protruding rods.",
+    "Lift the medium black mug with handle, turn it, place it back, and move it onto the metallic rack with smooth finish with the right arm.",
+    "Use the left arm to grab the cylindrical mug with black finish, flip it, set it down, and then attach it to the rack with two rods sticking out.",
+    "Take the black mug with rounded sturdy handle from the table, spin it, place it in the center, then hang it on the rack with angular body.",
+    "Pick the cylindrical mug with black finish from the table using one hand, rotate, and hang it on the angled rack with long and short rods.",
+    "Take the palm-sized mug glossy black body from the table, rotate it, place it in the center, then hang it onto the medium rack with protruding rods.",
+    "Use the left arm to lift the medium black mug with handle, rotate it, put it down, then hook onto the metal rack.",
+    "Grab the ceramic mug smooth outside, rotate it, place it in the middle, and hang it on the smooth dark gray rack.",
+    "Lift the cylindrical mug with black finish, give it a turn, and hang it onto the rack with two rods sticking out.",
+    "Lift the ceramic mug smooth outside, rotate it, put it down in the table's center, then hang it onto the metallic rack with smooth finish.",
+    "With the left arm, grab the medium mug smooth rounded handle, spin it, place it down, then use the right arm to hang it on the rack with angular body.",
+    "Pick the medium mug smooth rounded handle from the table, rotate it, place it, and then hang it onto the angled rack with long and short rods.",
+    "Pick the glossy black mug medium-sized for drinking using your left arm, turn it, set it on the table, and hang it on the dark gray rack with the right arm.",
+    "Use your left arm to pick the ceramic mug smooth outside, rotate it, set it down, and hang it onto the smooth rack.",
+    "Use your left arm to grab the cylindrical mug with black finish, rotate it, set it down, then hang on the rack with angular body.",
+    "Grab the mug with curved black handle, turn it around, put it back, then attach it to the metallic rack with smooth finish.",
+    "Take the medium mug smooth rounded handle with one arm, rotate it, and hang it onto the metal rack.",
+    "Use one arm to grab the black mug glossy ceramic material, turn it, set it centrally, and use the other to hang it onto the metallic rack with smooth finish.",
+    "Pick the black mug up, twist it, place it back, then hang it onto the rack with two rods sticking out.",
+    "Lift the black mug, twist it, set it back, and secure it onto the angular rack with slanted support rod.",
+    "Take the medium black mug with handle, rotate it, place it in the center, then hang it on the dark gray angled rack.",
+    "Lift the black mug glossy ceramic material from the table, rotate it, place it in the middle, and hang it on the dark gray rack.",
+    "Lift the palm-sized mug glossy black body, turn it around, set it in the middle, and place it on the dark gray angled rack.",
+    "Pick up the palm-sized mug glossy black body, turn it, place it centrally, then hang the palm-sized mug glossy black body onto the medium rack with protruding rods.",
+    "Grab the black ceramic mug, rotate it, place it on the table, and hook it onto the rack with angular body.",
+    "Using your left arm, lift the drinking mug shiny black exterior, rotate it, place it down, then your right arm to hang it onto the smooth rack.",
+    "Grab the cylindrical mug with black finish, rotate it, place it in the middle, and hang it onto the metallic rack with smooth finish.",
+    "Take the cylindrical mug with black finish, rotate it, set it in the middle, then hang it on the dark gray rack.",
+    "Use the right arm to lift the ceramic mug smooth outside, rotate it, and attach it to the angled rack with long and short rods after setting it down.",
+    "With the left arm, pick the black mug glossy ceramic material, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Take the ceramic mug smooth outside, rotate it, place it back on the table, and hang it on the medium rack with protruding rods afterward.",
+    "Use the left arm to pick the drinking mug shiny black exterior, turn it, place it, then hang on the smooth rack.",
+    "Use your left arm to grab the ceramic mug smooth outside, rotate it, place it in the middle, then use the right arm to hang it onto the metallic rack with smooth finish.",
+    "Grab the drinking mug shiny black exterior from the table, rotate it, place it, and hang it onto the smooth dark gray rack.",
+    "Take the black mug with rounded sturdy handle, rotate it, set it on the table's center, then hang it onto the smooth dark gray rack.",
+    "Use the left arm to grab the black mug with rounded sturdy handle, rotate it, place it down, and hang it onto the dark gray rack with the right arm.",
+    "Using the left arm, pick the black mug, turn it, place it down, and hang it on the smooth dark gray rack.",
+    "Use the left arm to grab the drinking mug shiny black exterior, rotate it, set it down, then hang the drinking mug shiny black exterior onto the metallic rack with smooth finish.",
+    "Use the left arm to grab the mug with curved black handle, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.",
+    "Lift the black mug from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.",
+    "With the left arm, grab the medium black mug with handle from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic angular rack with rod pair.",
+    "Pick the cylindrical mug with black finish, turn it, put it in the center, and transfer it to the smooth dark gray rack.",
+    "Take the medium black mug with handle from the table, turn it, set it down, and attach it to the angular rack with slanted support rod.",
+    "Lift the glossy black mug medium-sized for drinking, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.",
+    "Use the left arm to grab the cylindrical mug with black finish, flip it, set it down, and then attach it to the angular rack with slanted support rod.",
+    "Take the drinking mug shiny black exterior from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Pick the black mug glossy ceramic material from the table using one hand, rotate, and hang it on the rack with angular body.",
+    "Take the cylindrical mug with black finish from the table, rotate it, place it in the center, then hang it onto the smooth rack.",
+    "Use the left arm to lift the cylindrical mug with black finish, rotate it, put it down, then hook onto the smooth rack.",
+    "Grab the black mug glossy ceramic material, rotate it, place it in the middle, and hang it on the rack with two rods sticking out.",
+    "Lift the black mug glossy ceramic material, give it a turn, and hang it onto the smooth rack.",
+    "Lift the black mug, rotate it, put it down in the table's center, then hang it onto the smooth dark gray rack.",
+    "With the left arm, grab the black ceramic mug, spin it, place it down, then use the right arm to hang it on the rack with angular body.",
+    "Pick the black mug glossy ceramic material from the table, rotate it, place it, and then hang it onto the smooth rack.",
+    "Pick the cylindrical mug with black finish using your left arm, turn it, set it on the table, and hang it on the smooth rack with the right arm.",
+    "Use your left arm to pick the black mug glossy ceramic material, rotate it, set it down, and hang it onto the metallic rack with smooth finish.",
+    "Use your left arm to grab the black ceramic mug, rotate it, set it down, then hang on the smooth rack.",
+    "Grab the cylindrical mug with black finish, turn it around, put it back, then attach it to the angular rack with slanted support rod.",
+    "Take the medium mug smooth rounded handle with one arm, rotate it, and hang it onto the angular rack with slanted support rod.",
+    "Use one arm to grab the ceramic mug smooth outside, turn it, set it centrally, and use the other to hang it onto the smooth dark gray rack.",
+    "Pick the ceramic mug smooth outside up, twist it, place it back, then hang it onto the dark gray rack.",
+    "Lift the medium black mug with handle, twist it, set it back, and secure it onto the metallic rack with smooth finish.",
+    "Take the mug with curved black handle, rotate it, place it in the center, then hang it on the angled rack with long and short rods.",
+    "Lift the medium black mug with handle from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Lift the glossy black mug medium-sized for drinking, turn it around, set it in the middle, and place it on the angled rack with long and short rods.",
+    "Pick up the drinking mug shiny black exterior, turn it, place it centrally, then hang the drinking mug shiny black exterior onto the angular rack with slanted support rod.",
+    "Grab the drinking mug shiny black exterior, rotate it, place it on the table, and hook it onto the dark gray angled rack.",
+    "Using your left arm, lift the black mug with rounded sturdy handle, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair.",
+    "Grab the black ceramic mug, rotate it, place it in the middle, and hang it onto the dark gray angled rack.",
+    "Take the black mug glossy ceramic material, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.",
+    "Use the right arm to lift the ceramic mug smooth outside, rotate it, and attach it to the dark gray rack after setting it down.",
+    "With the left arm, pick the glossy black mug medium-sized for drinking, rotate it, place it, then hang it onto the smooth dark gray rack.",
+    "Take the black ceramic mug, rotate it, place it back on the table, and hang it on the angular rack with slanted support rod afterward.",
+    "Use the left arm to pick the palm-sized mug glossy black body, turn it, place it, then hang on the metallic angular rack with rod pair.",
+    "Use your left arm to grab the medium black mug with handle, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Grab the cylindrical mug with black finish from the table, rotate it, place it, and hang it onto the medium rack with protruding rods.",
+    "Take the mug with curved black handle, rotate it, set it on the table's center, then hang it onto the metal rack.",
+    "Use the left arm to grab the drinking mug shiny black exterior, rotate it, place it down, and hang it onto the angled rack with long and short rods with the right arm.",
+    "Using the left arm, pick the palm-sized mug glossy black body, turn it, place it down, and hang it on the smooth rack.",
+    "Use the left arm to grab the medium mug smooth rounded handle, rotate it, set it down, then hang the medium mug smooth rounded handle onto the dark gray rack.",
+    "Use the left arm to grab the medium black mug with handle, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.",
+    "Lift the palm-sized mug glossy black body from the table, turn it, put it down in the middle, then hang it onto the rack with angular body.",
+    "With the left arm, grab the black ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the medium rack with protruding rods.",
+    "Pick the mug with curved black handle, turn it, put it in the center, and transfer it to the dark gray rack.",
+    "Take the medium black mug with handle from the table, turn it, set it down, and attach it to the metallic angular rack with rod pair.",
+    "Lift the black mug glossy ceramic material, turn it, place it back, and move it onto the medium rack with protruding rods with the right arm.",
+    "Use the left arm to grab the ceramic mug smooth outside, flip it, set it down, and then attach it to the dark gray angled rack.",
+    "Take the palm-sized mug glossy black body from the table, spin it, place it in the center, then hang it on the smooth rack.",
+    "Pick the palm-sized mug glossy black body from the table using one hand, rotate, and hang it on the angular rack with slanted support rod.",
+    "Take the medium black mug with handle from the table, rotate it, place it in the center, then hang it onto the smooth rack.",
+    "Use the left arm to lift the mug with curved black handle, rotate it, put it down, then hook onto the dark gray angled rack.",
+    "Grab the medium mug smooth rounded handle, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
+    "Lift the cylindrical mug with black finish, give it a turn, and hang it onto the medium rack with protruding rods.",
+    "Lift the black mug glossy ceramic material, rotate it, put it down in the table's center, then hang it onto the dark gray rack.",
+    "With the left arm, grab the glossy black mug medium-sized for drinking, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack."
+  ],
+  "unseen": [
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body from the table, rotate it, and set it in the center. Then hang the mug for liquids black ceramic body on the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the rounded mug with glossy shine with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the rounded mug with glossy shine from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the rounded mug with glossy shine from the table, rotate it, and set it in the center. Then hang the rounded mug with glossy shine on the dark gray rack with flat back.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the cylindrical drinking mug black color, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the cylindrical drinking mug black color with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the mug for liquids black ceramic body from the table, rotate it, and set it in the center. Then hang the mug for liquids black ceramic body on the dark gray rack with flat back.",
+    "Grab the cylindrical drinking mug black color on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug for liquids black ceramic body, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the rounded mug with glossy shine with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the rounded mug with glossy shine from the table, rotate it, and set it in the center. Then hang the rounded mug with glossy shine on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the mug for liquids black ceramic body, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the rounded mug with glossy shine with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the dark gray rack with flat back.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the cylindrical drinking mug black color, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the mug for liquids black ceramic body from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the rounded mug with glossy shine from the table, rotate it, and set it in the center. Then hang the rounded mug with glossy shine on the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the mug for liquids black ceramic body from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the mug for liquids black ceramic body from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine from the table, rotate it, and set it in the center. Then hang the rounded mug with glossy shine on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the cylindrical drinking mug black color, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the cylindrical drinking mug black color from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the cylindrical drinking mug black color, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the rounded mug with glossy shine, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the mug for liquids black ceramic body from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the dark gray rack with flat back.",
+    "Grab the cylindrical drinking mug black color on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the mug for liquids black ceramic body, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the rounded mug with glossy shine from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body from the table, rotate it, and set it in the center. Then hang the mug for liquids black ceramic body on the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the rounded mug with glossy shine, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the cylindrical drinking mug black color from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the mug for liquids black ceramic body, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the rounded mug with glossy shine, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the mug for liquids black ceramic body from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body from the table, rotate it, and set it in the center. Then hang the mug for liquids black ceramic body on the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the mug for liquids black ceramic body from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the cylindrical drinking mug black color, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the rounded mug with glossy shine with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the rounded mug with glossy shine from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the medium-sized rack.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the cylindrical drinking mug black color, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the mug for liquids black ceramic body, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the rounded mug with glossy shine from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the mug for liquids black ceramic body from the table, rotate it, and set it in the center. Then hang the mug for liquids black ceramic body on the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the cylindrical drinking mug black color, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the mug for liquids black ceramic body from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the dark gray rack with flat back.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack."
+  ]
+}

hanging_mug/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the white mug with rounded handle, rotate it, place it in the middle, and hang it on the rack with angular body.",
+    "Lift the white mug, turn it around, set it in the middle, and place it on the smooth dark gray rack.",
+    "Grab the smooth white mug with curved handle, turn it around, put it back, then attach it to the smooth dark gray rack.",
+    "Take the medium white mug with handle from the table, spin it, place it in the center, then hang it on the smooth rack.",
+    "Pick the glossy mug for beverages up, twist it, place it back, then hang it onto the metallic angular rack with rod pair.",
+    "Take the white mug, rotate it, place it back on the table, and hang it on the medium rack with protruding rods afterward.",
+    "Use your left arm to pick the plain glossy mug, rotate it, set it down, and hang it onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the smooth white mug with curved handle, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray angled rack.",
+    "Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the dark gray angled rack.",
+    "Grab the white mug, rotate it, place it in the middle, and hang it onto the metal rack.",
+    "Use your left arm to grab the basic mug in solid white, rotate it, set it down, then hang on the rack with angular body.",
+    "Take the ceramic mug, rotate it, set it in the middle, then hang it on the rack with two rods sticking out.",
+    "Take the medium-sized white mug from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.",
+    "Lift the smooth white mug with curved handle from the table, turn it, put it down in the middle, then hang it onto the rack with two rods sticking out.",
+    "With the left arm, pick the medium-sized white mug, rotate it, place it, then hang it onto the rack with angular body.",
+    "Take the ceramic mug, rotate it, set it on the table's center, then hang it onto the metal rack.",
+    "Using your left arm, lift the hand-sized ceramic mug, rotate it, place it down, then your right arm to hang it onto the smooth rack.",
+    "Pick the white mug, turn it, put it in the center, and transfer it to the dark gray angled rack.",
+    "Pick the smooth and plain drinking mug from the table, rotate it, place it, and then hang it onto the rack with angular body.",
+    "Use one arm to grab the cylindrical mug made of ceramic, turn it, set it centrally, and use the other to hang it onto the medium rack with protruding rods.",
+    "Pick the glossy mug for beverages using your left arm, turn it, set it on the table, and hang it on the dark gray rack with the right arm.",
+    "Pick the medium white mug with handle from the table using one hand, rotate, and hang it on the smooth dark gray rack.",
+    "Use the left arm to pick the white mug with rounded handle, turn it, place it, then hang on the rack with angular body.",
+    "Use the left arm to grab the cylindrical mug made of ceramic, rotate it, set it down, then hang the cylindrical mug made of ceramic onto the rack with angular body.",
+    "Take the smooth white mug with curved handle, rotate it, place it in the center, then hang it on the smooth rack.",
+    "Use the left arm to grab the ceramic mug, flip it, set it down, and then attach it to the dark gray rack.",
+    "Lift the cylindrical mug made of ceramic, give it a turn, and hang it onto the metallic angular rack with rod pair.",
+    "Lift the medium-sized white mug from the table, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "Lift the white mug, turn it, place it back, and move it onto the dark gray rack with the right arm.",
+    "Take the basic mug in solid white with one arm, rotate it, and hang it onto the rack with two rods sticking out.",
+    "Use the right arm to lift the hand-sized ceramic mug, rotate it, and attach it to the angular rack with slanted support rod after setting it down.",
+    "Use the left arm to lift the cylindrical mug made of ceramic, rotate it, put it down, then hook onto the smooth rack.",
+    "Take the medium-sized white mug from the table, turn it, set it down, and attach it to the metallic angular rack with rod pair.",
+    "Use your left arm to grab the plain glossy mug, rotate it, place it in the middle, then use the right arm to hang it onto the smooth rack.",
+    "With the left arm, grab the medium-sized white mug, spin it, place it down, then use the right arm to hang it on the rack with angular body.",
+    "Pick up the smooth white mug with curved handle, turn it, place it centrally, then hang the smooth white mug with curved handle onto the metal rack.",
+    "Lift the white mug with rounded handle, rotate it, put it down in the table's center, then hang it onto the metallic rack with smooth finish.",
+    "With the left arm, grab the glossy mug for beverages from the table, rotate it, place it centrally, and with the right arm, hang it onto the metallic rack with smooth finish.",
+    "Grab the smooth and plain drinking mug from the table, rotate it, place it, and hang it onto the dark gray rack.",
+    "Lift the smooth and plain drinking mug, twist it, set it back, and secure it onto the dark gray angled rack.",
+    "Use the left arm to grab the ceramic mug, rotate it, place it down, and hang it onto the metallic angular rack with rod pair with the right arm.",
+    "Grab the plain glossy mug, rotate it, place it on the table, and hook it onto the dark gray rack.",
+    "Grab the smooth and plain drinking mug, rotate it, place it in the middle, and hang it on the rack with angular body.",
+    "Lift the medium-sized white mug, turn it around, set it in the middle, and place it on the angular rack with slanted support rod.",
+    "Grab the hand-sized ceramic mug, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "Take the basic mug in solid white from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Pick the smooth white mug with curved handle up, twist it, place it back, then hang it onto the rack with angular body.",
+    "Take the white mug, rotate it, place it back on the table, and hang it on the dark gray angled rack afterward.",
+    "Use your left arm to pick the medium white mug with handle, rotate it, set it down, and hang it onto the medium rack with protruding rods.",
+    "Use the left arm to grab the basic mug in solid white, rotate it, place it in the middle, then use the right arm to hang it onto the metal rack.",
+    "Using the left arm, pick the ceramic mug, turn it, place it down, and hang it on the rack with angular body.",
+    "Grab the white mug, rotate it, place it in the middle, and hang it onto the rack with angular body.",
+    "Use your left arm to grab the cylindrical mug made of ceramic, rotate it, set it down, then hang on the metallic rack with smooth finish.",
+    "Take the ceramic mug, rotate it, set it in the middle, then hang it on the dark gray angled rack.",
+    "Take the medium-sized white mug from the table, rotate it, place it in the center, then hang it onto the smooth dark gray rack.",
+    "Lift the hand-sized ceramic mug from the table, turn it, put it down in the middle, then hang it onto the rack with two rods sticking out.",
+    "With the left arm, pick the glossy mug for beverages, rotate it, place it, then hang it onto the smooth dark gray rack.",
+    "Take the basic mug in solid white, rotate it, set it on the table's center, then hang it onto the medium rack with protruding rods.",
+    "Using your left arm, lift the plain glossy mug, rotate it, place it down, then your right arm to hang it onto the angled rack with long and short rods.",
+    "Pick the cylindrical mug made of ceramic, turn it, put it in the center, and transfer it to the rack with two rods sticking out.",
+    "Pick the cylindrical mug made of ceramic from the table, rotate it, place it, and then hang it onto the smooth rack.",
+    "Use one arm to grab the white mug, turn it, set it centrally, and use the other to hang it onto the dark gray rack.",
+    "Pick the medium white mug with handle using your left arm, turn it, set it on the table, and hang it on the metallic rack with smooth finish with the right arm.",
+    "Pick the smooth white mug with curved handle from the table using one hand, rotate, and hang it on the medium rack with protruding rods.",
+    "Use the left arm to pick the ceramic mug, turn it, place it, then hang on the medium rack with protruding rods.",
+    "Use the left arm to grab the medium white mug with handle, rotate it, set it down, then hang the medium white mug with handle onto the metallic rack with smooth finish.",
+    "Take the white mug with rounded handle, rotate it, place it in the center, then hang it on the metal rack.",
+    "Use the left arm to grab the plain glossy mug, flip it, set it down, and then attach it to the metal rack.",
+    "Lift the smooth and plain drinking mug, give it a turn, and hang it onto the medium rack with protruding rods.",
+    "Lift the white mug with rounded handle from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.",
+    "Lift the basic mug in solid white, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.",
+    "Take the cylindrical mug made of ceramic with one arm, rotate it, and hang it onto the angled rack with long and short rods.",
+    "Use the right arm to lift the smooth white mug with curved handle, rotate it, and attach it to the dark gray angled rack after setting it down.",
+    "Use the left arm to lift the smooth white mug with curved handle, rotate it, put it down, then hook onto the metallic angular rack with rod pair.",
+    "Take the smooth white mug with curved handle from the table, turn it, set it down, and attach it to the medium rack with protruding rods.",
+    "Use your left arm to grab the basic mug in solid white, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray angled rack.",
+    "With the left arm, grab the cylindrical mug made of ceramic, spin it, place it down, then use the right arm to hang it on the metallic angular rack with rod pair.",
+    "Pick up the white mug, turn it, place it centrally, then hang the white mug onto the rack with two rods sticking out.",
+    "Lift the plain glossy mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair.",
+    "With the left arm, grab the smooth white mug with curved handle from the table, rotate it, place it centrally, and with the right arm, hang it onto the rack with two rods sticking out.",
+    "Grab the glossy mug for beverages from the table, rotate it, place it, and hang it onto the rack with two rods sticking out.",
+    "Lift the basic mug in solid white, twist it, set it back, and secure it onto the metal rack.",
+    "Use the left arm to grab the medium white mug with handle, rotate it, place it down, and hang it onto the rack with angular body with the right arm.",
+    "Grab the cylindrical mug made of ceramic, rotate it, place it on the table, and hook it onto the medium rack with protruding rods.",
+    "Grab the smooth and plain drinking mug, rotate it, place it in the middle, and hang it on the metal rack.",
+    "Lift the white mug, turn it around, set it in the middle, and place it on the rack with angular body.",
+    "Grab the smooth white mug with curved handle, turn it around, put it back, then attach it to the rack with angular body.",
+    "Take the white mug with rounded handle from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Pick the basic mug in solid white up, twist it, place it back, then hang it onto the angled rack with long and short rods.",
+    "Take the basic mug in solid white, rotate it, place it back on the table, and hang it on the medium rack with protruding rods afterward.",
+    "Use your left arm to pick the smooth white mug with curved handle, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.",
+    "Use the left arm to grab the hand-sized ceramic mug, rotate it, place it in the middle, then use the right arm to hang it onto the smooth dark gray rack.",
+    "Using the left arm, pick the hand-sized ceramic mug, turn it, place it down, and hang it on the metallic angular rack with rod pair.",
+    "Grab the basic mug in solid white, rotate it, place it in the middle, and hang it onto the metal rack.",
+    "Use your left arm to grab the smooth and plain drinking mug, rotate it, set it down, then hang on the dark gray angled rack.",
+    "Take the medium-sized white mug, rotate it, set it in the middle, then hang it on the medium rack with protruding rods.",
+    "Take the smooth white mug with curved handle from the table, rotate it, place it in the center, then hang it onto the metal rack.",
+    "Lift the medium white mug with handle from the table, turn it, put it down in the middle, then hang it onto the metallic rack with smooth finish.",
+    "With the left arm, pick the smooth white mug with curved handle, rotate it, place it, then hang it onto the metallic angular rack with rod pair.",
+    "Take the medium-sized white mug, rotate it, set it on the table's center, then hang it onto the metallic angular rack with rod pair."
+  ],
+  "unseen": [
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the medium-sized rack.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the medium mug for hot drinks on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the medium mug for hot drinks, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the simple white cylindrical mug from the table, rotate it, and set it in the center. Then hang the simple white cylindrical mug on the dark gray rack with flat back.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium mug for hot drinks from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium mug for hot drinks with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the medium-sized rack.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the medium mug for hot drinks, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug from the table, rotate it, and set it in the center. Then hang the simple white cylindrical mug on the rack with straight and slanted rods.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the medium mug for hot drinks from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the white coffee mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the rack with straight and slanted rods.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the white coffee mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the white coffee mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the white coffee mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the medium-sized rack.",
+    "Lift the white coffee mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the rack with straight and slanted rods.",
+    "Lift the white coffee mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the medium mug for hot drinks on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick up the medium mug for hot drinks, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the white coffee mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the medium-sized rack.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Grab the white coffee mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the medium mug for hot drinks, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the white coffee mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug from the table, rotate it, and set it in the center. Then hang the simple white cylindrical mug on the dark gray rack with flat back.",
+    "Lift the white coffee mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the simple white cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the white coffee mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick up the simple white cylindrical mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the white coffee mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the medium mug for hot drinks, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the rack with straight and slanted rods.",
+    "Lift the white coffee mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the medium mug for hot drinks from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the medium mug for hot drinks on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Pick up the medium mug for hot drinks, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the white coffee mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the white coffee mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the medium-sized rack.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the medium mug for hot drinks on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Pick up the medium mug for hot drinks, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Pick the simple white cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the simple white cylindrical mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the medium mug for hot drinks from the table, rotate it, and set it in the center. Then hang the medium mug for hot drinks on the dark gray rack with flat back.",
+    "Lift the simple white cylindrical mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Grab the simple white cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Pick up the white coffee mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Pick the white coffee mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the medium mug for hot drinks, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the simple white cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the white coffee mug from the table, rotate it, and set it in the center. Then hang the white coffee mug on the rack with straight and slanted rods.",
+    "Lift the medium mug for hot drinks from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the white coffee mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Grab the medium mug for hot drinks on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods."
+  ]
+}

hanging_mug/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the glossy black mug medium-sized for drinking, rotate it, put it down in the table's center, then hang it onto the metal rack.",
+    "Pick the medium black mug with handle, turn it, put it in the center, and transfer it to the rack with angular body.",
+    "Grab the black ceramic mug, rotate it, place it in the middle, and hang it on the rack with angular body.",
+    "With the left arm, grab the drinking mug shiny black exterior from the table, rotate it, place it centrally, and with the right arm, hang it onto the dark gray angled rack.",
+    "Grab the black mug with rounded sturdy handle from the table, rotate it, place it, and hang it onto the dark gray angled rack.",
+    "Lift the black mug glossy ceramic material from the table, turn it, put it down in the middle, then hang it onto the dark gray rack.",
+    "Use your left arm to pick the black ceramic mug, rotate it, set it down, and hang it onto the medium rack with protruding rods.",
+    "Use one arm to grab the black mug glossy ceramic material, turn it, set it centrally, and use the other to hang it onto the angled rack with long and short rods.",
+    "Lift the black mug with rounded sturdy handle, turn it, place it back, and move it onto the angular rack with slanted support rod with the right arm.",
+    "Pick the ceramic mug smooth outside up, twist it, place it back, then hang it onto the smooth rack.",
+    "Take the palm-sized mug glossy black body, rotate it, place it in the center, then hang it on the angular rack with slanted support rod.",
+    "Pick up the black mug glossy ceramic material, turn it, place it centrally, then hang the black mug glossy ceramic material onto the angled rack with long and short rods.",
+    "Use the left arm to grab the black mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.",
+    "Grab the mug with curved black handle, turn it around, put it back, then attach it to the rack with angular body.",
+    "With the left arm, pick the black ceramic mug, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Pick the black mug with rounded sturdy handle from the table using one hand, rotate, and hang it on the medium rack with protruding rods.",
+    "Lift the glossy black mug medium-sized for drinking, turn it around, set it in the middle, and place it on the metallic rack with smooth finish.",
+    "Grab the medium mug smooth rounded handle, rotate it, place it in the middle, and hang it onto the smooth rack.",
+    "Use the right arm to lift the cylindrical mug with black finish, rotate it, and attach it to the angled rack with long and short rods after setting it down.",
+    "Use the left arm to grab the cylindrical mug with black finish, flip it, set it down, and then attach it to the medium rack with protruding rods.",
+    "Pick the glossy black mug medium-sized for drinking from the table, rotate it, place it, and then hang it onto the angular rack with slanted support rod.",
+    "Take the black mug, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod.",
+    "Take the black mug glossy ceramic material with one arm, rotate it, and hang it onto the angled rack with long and short rods.",
+    "With the left arm, grab the black mug glossy ceramic material, spin it, place it down, then use the right arm to hang it on the metal rack.",
+    "Use the left arm to pick the black ceramic mug, turn it, place it, then hang on the dark gray angled rack.",
+    "Take the glossy black mug medium-sized for drinking from the table, turn it, set it down, and attach it to the metallic angular rack with rod pair.",
+    "Use the left arm to grab the palm-sized mug glossy black body, rotate it, set it down, then hang the palm-sized mug glossy black body onto the angular rack with slanted support rod.",
+    "Lift the cylindrical mug with black finish from the table, rotate it, place it in the middle, and hang it on the dark gray rack.",
+    "Grab the mug with curved black handle, rotate it, place it on the table, and hook it onto the rack with angular body.",
+    "Using the left arm, pick the black ceramic mug, turn it, place it down, and hang it on the smooth rack.",
+    "Use the left arm to lift the black mug with rounded sturdy handle, rotate it, put it down, then hook onto the dark gray rack.",
+    "Pick the glossy black mug medium-sized for drinking using your left arm, turn it, set it on the table, and hang it on the angled rack with long and short rods with the right arm.",
+    "Take the black mug, rotate it, set it on the table's center, then hang it onto the smooth rack.",
+    "Using your left arm, lift the medium black mug with handle, rotate it, place it down, then your right arm to hang it onto the angled rack with long and short rods.",
+    "Lift the palm-sized mug glossy black body, twist it, set it back, and secure it onto the smooth rack.",
+    "Use your left arm to grab the black mug with rounded sturdy handle, rotate it, place it in the middle, then use the right arm to hang it onto the metallic rack with smooth finish.",
+    "Use your left arm to grab the black mug with rounded sturdy handle, rotate it, set it down, then hang on the angled rack with long and short rods.",
+    "Take the black mug from the table, rotate it, place it in the center, then hang it onto the angular rack with slanted support rod.",
+    "Take the black mug glossy ceramic material from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Use the left arm to grab the ceramic mug smooth outside, rotate it, place it down, and hang it onto the dark gray rack with the right arm.",
+    "Take the drinking mug shiny black exterior, rotate it, place it back on the table, and hang it on the medium rack with protruding rods afterward.",
+    "Lift the black mug glossy ceramic material, give it a turn, and hang it onto the angular rack with slanted support rod.",
+    "Lift the black mug, rotate it, put it down in the table's center, then hang it onto the medium rack with protruding rods.",
+    "Pick the mug with curved black handle, turn it, put it in the center, and transfer it to the rack with angular body.",
+    "Grab the black mug, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "With the left arm, grab the black mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the angled rack with long and short rods.",
+    "Grab the black mug with rounded sturdy handle from the table, rotate it, place it, and hang it onto the rack with angular body.",
+    "Lift the black mug glossy ceramic material from the table, turn it, put it down in the middle, then hang it onto the dark gray angled rack.",
+    "Use your left arm to pick the mug with curved black handle, rotate it, set it down, and hang it onto the metal rack.",
+    "Use one arm to grab the drinking mug shiny black exterior, turn it, set it centrally, and use the other to hang it onto the metallic rack with smooth finish.",
+    "Lift the medium black mug with handle, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.",
+    "Pick the medium black mug with handle up, twist it, place it back, then hang it onto the metallic angular rack with rod pair.",
+    "Take the black mug glossy ceramic material, rotate it, place it in the center, then hang it on the medium rack with protruding rods.",
+    "Pick up the black mug glossy ceramic material, turn it, place it centrally, then hang the black mug glossy ceramic material onto the dark gray rack.",
+    "Use the left arm to grab the mug with curved black handle, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray angled rack.",
+    "Grab the drinking mug shiny black exterior, turn it around, put it back, then attach it to the metallic angular rack with rod pair.",
+    "With the left arm, pick the black ceramic mug, rotate it, place it, then hang it onto the metallic angular rack with rod pair.",
+    "Pick the glossy black mug medium-sized for drinking from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair.",
+    "Lift the medium black mug with handle, turn it around, set it in the middle, and place it on the rack with angular body.",
+    "Grab the black ceramic mug, rotate it, place it in the middle, and hang it onto the angular rack with slanted support rod.",
+    "Use the right arm to lift the glossy black mug medium-sized for drinking, rotate it, and attach it to the metallic angular rack with rod pair after setting it down.",
+    "Use the left arm to grab the black mug with rounded sturdy handle, flip it, set it down, and then attach it to the angled rack with long and short rods.",
+    "Pick the black mug from the table, rotate it, place it, and then hang it onto the dark gray rack.",
+    "Take the palm-sized mug glossy black body, rotate it, set it in the middle, then hang it on the metallic rack with smooth finish.",
+    "Take the black ceramic mug with one arm, rotate it, and hang it onto the dark gray rack.",
+    "With the left arm, grab the ceramic mug smooth outside, spin it, place it down, then use the right arm to hang it on the metallic rack with smooth finish.",
+    "Use the left arm to pick the cylindrical mug with black finish, turn it, place it, then hang on the metallic rack with smooth finish.",
+    "Take the black mug glossy ceramic material from the table, turn it, set it down, and attach it to the medium rack with protruding rods.",
+    "Use the left arm to grab the ceramic mug smooth outside, rotate it, set it down, then hang the ceramic mug smooth outside onto the dark gray rack.",
+    "Lift the cylindrical mug with black finish from the table, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.",
+    "Grab the black mug with rounded sturdy handle, rotate it, place it on the table, and hook it onto the smooth rack.",
+    "Using the left arm, pick the ceramic mug smooth outside, turn it, place it down, and hang it on the angular rack with slanted support rod.",
+    "Use the left arm to lift the medium mug smooth rounded handle, rotate it, put it down, then hook onto the rack with two rods sticking out.",
+    "Pick the ceramic mug smooth outside using your left arm, turn it, set it on the table, and hang it on the dark gray rack with the right arm.",
+    "Take the medium mug smooth rounded handle, rotate it, set it on the table's center, then hang it onto the smooth dark gray rack.",
+    "Using your left arm, lift the black mug, rotate it, place it down, then your right arm to hang it onto the dark gray angled rack.",
+    "Lift the cylindrical mug with black finish, twist it, set it back, and secure it onto the dark gray rack.",
+    "Use your left arm to grab the palm-sized mug glossy black body, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out.",
+    "Use your left arm to grab the medium mug smooth rounded handle, rotate it, set it down, then hang on the smooth dark gray rack.",
+    "Take the black mug glossy ceramic material from the table, rotate it, place it in the center, then hang it onto the metal rack.",
+    "Take the black mug from the table, spin it, place it in the center, then hang it on the angled rack with long and short rods.",
+    "Use the left arm to grab the black ceramic mug, rotate it, place it down, and hang it onto the metallic angular rack with rod pair with the right arm.",
+    "Take the medium mug smooth rounded handle, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.",
+    "Lift the mug with curved black handle, give it a turn, and hang it onto the metallic rack with smooth finish.",
+    "Lift the glossy black mug medium-sized for drinking, rotate it, put it down in the table's center, then hang it onto the rack with angular body.",
+    "Pick the cylindrical mug with black finish, turn it, put it in the center, and transfer it to the smooth dark gray rack.",
+    "Grab the black ceramic mug, rotate it, place it in the middle, and hang it on the rack with two rods sticking out.",
+    "With the left arm, grab the cylindrical mug with black finish from the table, rotate it, place it centrally, and with the right arm, hang it onto the dark gray rack.",
+    "Grab the black ceramic mug from the table, rotate it, place it, and hang it onto the dark gray rack.",
+    "Lift the cylindrical mug with black finish from the table, turn it, put it down in the middle, then hang it onto the smooth rack.",
+    "Use your left arm to pick the glossy black mug medium-sized for drinking, rotate it, set it down, and hang it onto the metallic angular rack with rod pair.",
+    "Use one arm to grab the medium mug smooth rounded handle, turn it, set it centrally, and use the other to hang it onto the medium rack with protruding rods.",
+    "Lift the black ceramic mug, turn it, place it back, and move it onto the dark gray angled rack with the right arm.",
+    "Pick the black mug glossy ceramic material up, twist it, place it back, then hang it onto the metal rack.",
+    "Take the black mug, rotate it, place it in the center, then hang it on the metallic rack with smooth finish.",
+    "Pick up the cylindrical mug with black finish, turn it, place it centrally, then hang the cylindrical mug with black finish onto the smooth dark gray rack.",
+    "Use the left arm to grab the ceramic mug smooth outside, rotate it, place it in the middle, then use the right arm to hang it onto the dark gray rack.",
+    "Grab the black mug glossy ceramic material, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "With the left arm, pick the medium mug smooth rounded handle, rotate it, place it, then hang it onto the angled rack with long and short rods.",
+    "Pick the palm-sized mug glossy black body from the table using one hand, rotate, and hang it on the metallic angular rack with rod pair."
+  ],
+  "unseen": [
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the cylindrical drinking mug black color, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the mug for liquids black ceramic body from the table, rotate it, and set it in the center. Then hang the mug for liquids black ceramic body on the dark gray rack with flat back.",
+    "Pick the rounded mug with glossy shine with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the rounded mug with glossy shine from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the rack with straight and slanted rods.",
+    "Pick the rounded mug with glossy shine with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the cylindrical drinking mug black color, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug for liquids black ceramic body from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the rounded mug with glossy shine, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the mug for liquids black ceramic body from the table, rotate it, and set it in the center. Then hang the mug for liquids black ceramic body on the dark gray rack with flat back.",
+    "Pick the rounded mug with glossy shine with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the mug for liquids black ceramic body from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the mug for liquids black ceramic body, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the rounded mug with glossy shine, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the dark gray rack with flat back.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the mug for liquids black ceramic body from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the mug for liquids black ceramic body, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine from the table, rotate it, and set it in the center. Then hang the rounded mug with glossy shine on the rack with straight and slanted rods.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the rounded mug with glossy shine from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the cylindrical drinking mug black color, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the rounded mug with glossy shine on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the rounded mug with glossy shine from the table, rotate it, and set it in the center. Then hang the rounded mug with glossy shine on the rack with straight and slanted rods.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the mug for liquids black ceramic body from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine from the table, rotate it, and set it in the center. Then hang the rounded mug with glossy shine on the dark gray rack with flat back.",
+    "Pick the mug for liquids black ceramic body with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body from the table, rotate it, and set it in the center. Then hang the mug for liquids black ceramic body on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Lift the cylindrical drinking mug black color from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick the mug for liquids black ceramic body from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the cylindrical drinking mug black color on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the rounded mug with glossy shine, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Grab the cylindrical drinking mug black color from the table, rotate it, and set it in the center. Then hang the cylindrical drinking mug black color on the dark gray rack with flat back.",
+    "Pick the rounded mug with glossy shine with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Lift the rounded mug with glossy shine from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick the rounded mug with glossy shine from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the cylindrical drinking mug black color, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Lift the cylindrical drinking mug black color, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Grab the rounded mug with glossy shine from the table, rotate it, and set it in the center. Then hang the rounded mug with glossy shine on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Lift the rounded mug with glossy shine from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick the cylindrical drinking mug black color from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the rounded mug with glossy shine, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug for liquids black ceramic body on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Lift the mug for liquids black ceramic body, rotate it, put it down, then attach it to the medium-sized rack."
+  ]
+}

hanging_mug/demo_clean_ep20_vidar/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth white mug, twist it, set it back, and secure it onto the smooth dark gray rack.",
+    "Lift the mug for drinking liquids, turn it around, set it in the middle, and place it on the dark gray rack.",
+    "Take the smooth white mug from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Take the mug with blue print, rotate it, set it in the middle, then hang it on the dark gray rack.",
+    "Grab the white ceramic mug with handle from the table, rotate it, place it, and hang it onto the rack with angular body.",
+    "Pick the white mug from the table, rotate it, place it, and then hang it onto the angular rack with slanted support rod.",
+    "Lift the medium mug with blue design, give it a turn, and hang it onto the metallic angular rack with rod pair.",
+    "Grab the cylindrical mug with curved handle, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.",
+    "Take the smooth white mug with one arm, rotate it, and hang it onto the metallic angular rack with rod pair.",
+    "Lift the mug with blue print from the table, turn it, put it down in the middle, then hang it onto the smooth rack.",
+    "Take the mug with blue print from the table, rotate it, place it in the center, then hang it onto the angular rack with slanted support rod.",
+    "With the left arm, pick the white mug, rotate it, place it, then hang it onto the rack with angular body.",
+    "Pick the white ceramic mug with handle using your left arm, turn it, set it on the table, and hang it on the rack with angular body with the right arm.",
+    "Use the right arm to lift the mug with blue print, rotate it, and attach it to the metal rack after setting it down.",
+    "Use the left arm to grab the hand-sized mug with blue artwork, rotate it, place it down, and hang it onto the rack with angular body with the right arm.",
+    "Grab the printed white ceramic mug, rotate it, place it in the middle, and hang it onto the angular rack with slanted support rod.",
+    "Pick the medium mug with blue design up, twist it, place it back, then hang it onto the rack with two rods sticking out.",
+    "Use the left arm to grab the white ceramic mug with handle, rotate it, place it in the middle, then use the right arm to hang it onto the metallic rack with smooth finish.",
+    "Pick the white ceramic mug with handle from the table using one hand, rotate, and hang it on the angled rack with long and short rods.",
+    "Take the white ceramic mug with handle, rotate it, place it in the center, then hang it on the dark gray rack.",
+    "Using your left arm, lift the smooth white mug, rotate it, place it down, then your right arm to hang it onto the metallic angular rack with rod pair.",
+    "With the left arm, grab the white drinking mug with smooth surface, spin it, place it down, then use the right arm to hang it on the smooth rack.",
+    "Use the left arm to grab the medium mug with blue design, flip it, set it down, and then attach it to the angled rack with long and short rods.",
+    "Use your left arm to grab the mug with blue print, rotate it, set it down, then hang on the angled rack with long and short rods.",
+    "Grab the mug with blue print, rotate it, place it on the table, and hook it onto the dark gray angled rack.",
+    "Take the medium mug with blue design, rotate it, place it back on the table, and hang it on the rack with two rods sticking out afterward.",
+    "Take the mug with blue print, rotate it, set it on the table's center, then hang it onto the angular rack with slanted support rod.",
+    "Lift the white mug with glossy finish, turn it, place it back, and move it onto the rack with two rods sticking out with the right arm.",
+    "Lift the medium mug with blue design, rotate it, put it down in the table's center, then hang it onto the medium rack with protruding rods.",
+    "Use the left arm to lift the white drinking mug with smooth surface, rotate it, put it down, then hook onto the dark gray angled rack.",
+    "Pick the white mug, turn it, put it in the center, and transfer it to the rack with angular body.",
+    "Take the ceramic mug from the table, turn it, set it down, and attach it to the metal rack.",
+    "With the left arm, grab the ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.",
+    "Grab the mug with blue print, turn it around, put it back, then attach it to the rack with two rods sticking out.",
+    "Use your left arm to pick the mug for drinking liquids, rotate it, set it down, and hang it onto the rack with angular body.",
+    "Lift the white drinking mug with smooth surface from the table, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Use the left arm to grab the smooth white mug, rotate it, set it down, then hang the smooth white mug onto the medium rack with protruding rods.",
+    "Pick up the cylindrical mug with curved handle, turn it, place it centrally, then hang the cylindrical mug with curved handle onto the smooth dark gray rack.",
+    "Use the left arm to pick the cylindrical mug with curved handle, turn it, place it, then hang on the angled rack with long and short rods.",
+    "Use one arm to grab the hand-sized mug with blue artwork, turn it, set it centrally, and use the other to hang it onto the rack with two rods sticking out.",
+    "Using the left arm, pick the white drinking mug with smooth surface, turn it, place it down, and hang it on the rack with angular body.",
+    "Use your left arm to grab the mug for drinking liquids, rotate it, place it in the middle, then use the right arm to hang it onto the rack with two rods sticking out.",
+    "Lift the white mug with glossy finish, twist it, set it back, and secure it onto the dark gray rack.",
+    "Lift the mug with blue print, turn it around, set it in the middle, and place it on the angled rack with long and short rods.",
+    "Take the printed white ceramic mug from the table, spin it, place it in the center, then hang it on the dark gray angled rack.",
+    "Take the hand-sized mug with blue artwork, rotate it, set it in the middle, then hang it on the dark gray angled rack.",
+    "Grab the cylindrical mug with curved handle from the table, rotate it, place it, and hang it onto the smooth dark gray rack.",
+    "Pick the white drinking mug with smooth surface from the table, rotate it, place it, and then hang it onto the smooth rack.",
+    "Lift the cylindrical mug with curved handle, give it a turn, and hang it onto the metallic rack with smooth finish.",
+    "Grab the printed white ceramic mug, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Take the printed white ceramic mug with one arm, rotate it, and hang it onto the smooth rack.",
+    "Lift the white ceramic mug with handle from the table, turn it, put it down in the middle, then hang it onto the metallic rack with smooth finish.",
+    "Take the white mug with glossy finish from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.",
+    "With the left arm, pick the hand-sized mug with blue artwork, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Pick the cylindrical mug with curved handle using your left arm, turn it, set it on the table, and hang it on the smooth rack with the right arm.",
+    "Use the right arm to lift the white ceramic mug with handle, rotate it, and attach it to the rack with angular body after setting it down.",
+    "Use the left arm to grab the white ceramic mug with handle, rotate it, place it down, and hang it onto the metal rack with the right arm.",
+    "Grab the white mug, rotate it, place it in the middle, and hang it onto the angled rack with long and short rods.",
+    "Pick the white drinking mug with smooth surface up, twist it, place it back, then hang it onto the angled rack with long and short rods.",
+    "Use the left arm to grab the white mug, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.",
+    "Pick the white drinking mug with smooth surface from the table using one hand, rotate, and hang it on the angular rack with slanted support rod.",
+    "Take the ceramic mug, rotate it, place it in the center, then hang it on the rack with angular body.",
+    "Using your left arm, lift the medium mug with blue design, rotate it, place it down, then your right arm to hang it onto the angular rack with slanted support rod.",
+    "With the left arm, grab the white mug with glossy finish, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack.",
+    "Use the left arm to grab the white drinking mug with smooth surface, flip it, set it down, and then attach it to the dark gray angled rack.",
+    "Use your left arm to grab the mug with blue print, rotate it, set it down, then hang on the metallic rack with smooth finish.",
+    "Grab the hand-sized mug with blue artwork, rotate it, place it on the table, and hook it onto the medium rack with protruding rods.",
+    "Take the white mug with glossy finish, rotate it, place it back on the table, and hang it on the smooth dark gray rack afterward.",
+    "Take the cylindrical mug with curved handle, rotate it, set it on the table's center, then hang it onto the rack with angular body.",
+    "Lift the medium mug with blue design, turn it, place it back, and move it onto the metal rack with the right arm.",
+    "Lift the smooth white mug, rotate it, put it down in the table's center, then hang it onto the metal rack.",
+    "Use the left arm to lift the ceramic mug, rotate it, put it down, then hook onto the metal rack.",
+    "Pick the white mug, turn it, put it in the center, and transfer it to the dark gray angled rack.",
+    "Take the medium mug with blue design from the table, turn it, set it down, and attach it to the smooth dark gray rack.",
+    "With the left arm, grab the smooth white mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the angular rack with slanted support rod.",
+    "Grab the white mug, turn it around, put it back, then attach it to the metallic rack with smooth finish.",
+    "Use your left arm to pick the white mug, rotate it, set it down, and hang it onto the smooth rack.",
+    "Lift the white ceramic mug with handle from the table, rotate it, place it in the middle, and hang it on the angled rack with long and short rods.",
+    "Use the left arm to grab the cylindrical mug with curved handle, rotate it, set it down, then hang the cylindrical mug with curved handle onto the metal rack.",
+    "Pick up the mug for drinking liquids, turn it, place it centrally, then hang the mug for drinking liquids onto the dark gray angled rack.",
+    "Use the left arm to pick the printed white ceramic mug, turn it, place it, then hang on the rack with angular body.",
+    "Use one arm to grab the cylindrical mug with curved handle, turn it, set it centrally, and use the other to hang it onto the metal rack.",
+    "Using the left arm, pick the white mug with glossy finish, turn it, place it down, and hang it on the metallic rack with smooth finish.",
+    "Use your left arm to grab the smooth white mug, rotate it, place it in the middle, then use the right arm to hang it onto the angular rack with slanted support rod.",
+    "Lift the smooth white mug, twist it, set it back, and secure it onto the metallic angular rack with rod pair.",
+    "Lift the hand-sized mug with blue artwork, turn it around, set it in the middle, and place it on the rack with angular body.",
+    "Take the ceramic mug from the table, spin it, place it in the center, then hang it on the angular rack with slanted support rod.",
+    "Take the white drinking mug with smooth surface, rotate it, set it in the middle, then hang it on the metallic rack with smooth finish.",
+    "Grab the mug with blue print from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair.",
+    "Pick the hand-sized mug with blue artwork from the table, rotate it, place it, and then hang it onto the rack with two rods sticking out.",
+    "Lift the printed white ceramic mug, give it a turn, and hang it onto the rack with angular body.",
+    "Grab the mug with blue print, rotate it, place it in the middle, and hang it on the smooth dark gray rack.",
+    "Take the smooth white mug with one arm, rotate it, and hang it onto the metallic angular rack with rod pair.",
+    "Lift the white mug with glossy finish from the table, turn it, put it down in the middle, then hang it onto the metal rack.",
+    "Take the white mug from the table, rotate it, place it in the center, then hang it onto the rack with angular body.",
+    "With the left arm, pick the smooth white mug, rotate it, place it, then hang it onto the medium rack with protruding rods.",
+    "Pick the smooth white mug using your left arm, turn it, set it on the table, and hang it on the rack with angular body with the right arm.",
+    "Use the right arm to lift the smooth white mug, rotate it, and attach it to the dark gray rack after setting it down.",
+    "Use the left arm to grab the white ceramic mug with handle, rotate it, place it down, and hang it onto the angled rack with long and short rods with the right arm.",
+    "Grab the smooth white mug, rotate it, place it in the middle, and hang it onto the angular rack with slanted support rod."
+  ],
+  "unseen": [
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick the medium-sized white mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the medium-sized white mug from the table, rotate it, and set it in the center. Then hang the medium-sized white mug on the dark gray rack with flat back.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the mug shaped like a cylinder, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick the medium-sized white mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the medium-sized rack.",
+    "Grab the mug with rounded bottom and handle on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the mug shaped like a cylinder from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick up the medium-sized white mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug with rounded bottom and handle from the table, rotate it, and set it in the center. Then hang the mug with rounded bottom and handle on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the mug with rounded bottom and handle with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick up the medium-sized white mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the mug with rounded bottom and handle from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick the medium-sized white mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick up the mug with rounded bottom and handle, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug with rounded bottom and handle from the table, rotate it, and set it in the center. Then hang the mug with rounded bottom and handle on the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the mug shaped like a cylinder, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the medium-sized rack.",
+    "Grab the medium-sized white mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the mug shaped like a cylinder, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the mug shaped like a cylinder, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the mug shaped like a cylinder from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder from the table, rotate it, and set it in the center. Then hang the mug shaped like a cylinder on the dark gray rack with flat back.",
+    "Grab the mug with rounded bottom and handle on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the mug shaped like a cylinder, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug with rounded bottom and handle from the table, rotate it, and set it in the center. Then hang the mug with rounded bottom and handle on the medium-sized rack.",
+    "Grab the medium-sized white mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the medium-sized white mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the mug shaped like a cylinder from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Lift the medium-sized white mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Pick the mug with rounded bottom and handle with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick up the medium-sized white mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug with rounded bottom and handle from the table, rotate it, and set it in the center. Then hang the mug with rounded bottom and handle on the dark gray rack with flat back.",
+    "Grab the mug with rounded bottom and handle on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the mug with rounded bottom and handle, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the medium-sized white mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the medium-sized white mug from the table, rotate it, and set it in the center. Then hang the medium-sized white mug on the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug with rounded bottom and handle, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the mug shaped like a cylinder from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Lift the mug with rounded bottom and handle, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Pick up the mug shaped like a cylinder, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the medium-sized white mug from the table, rotate it, and set it in the center. Then hang the medium-sized white mug on the rack with straight and slanted rods.",
+    "Grab the mug with rounded bottom and handle on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug shaped like a cylinder, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the medium-sized white mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Lift the mug shaped like a cylinder, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Pick the mug shaped like a cylinder with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the mug with rounded bottom and handle from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Pick up the medium-sized white mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back."
+  ]
+}

hanging_mug/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the light brown mug from the table, rotate it, place it in the center, then hang it onto the dark gray rack.",
+    "Grab the ceramic mug from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair.",
+    "Grab the brown mug, rotate it, place it in the middle, and hang it onto the metallic rack with smooth finish.",
+    "Take the brown mug for drinking, rotate it, set it on the table's center, then hang it onto the rack with angular body.",
+    "Lift the ceramic mug from the table, turn it, put it down in the middle, then hang it onto the dark gray rack.",
+    "Pick the ceramic mug from the table, rotate it, place it, and then hang it onto the smooth rack.",
+    "Use the left arm to grab the light brown mug, rotate it, set it down, then hang the light brown mug onto the metallic rack with smooth finish.",
+    "Use the left arm to grab the brown medium-sized ceramic mug, flip it, set it down, and then attach it to the angled rack with long and short rods.",
+    "Pick up the mug for holding liquid, turn it, place it centrally, then hang the mug for holding liquid onto the smooth dark gray rack.",
+    "Lift the light brown mug with handle, give it a turn, and hang it onto the metallic angular rack with rod pair.",
+    "Lift the mug with curved handle, turn it, place it back, and move it onto the dark gray rack with the right arm.",
+    "Using your left arm, lift the hand-held ceramic mug, rotate it, place it down, then your right arm to hang it onto the rack with angular body.",
+    "Lift the ceramic mug from the table, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Use one arm to grab the light brown mug with handle, turn it, set it centrally, and use the other to hang it onto the metal rack.",
+    "Grab the ceramic mug, turn it around, put it back, then attach it to the angled rack with long and short rods.",
+    "With the left arm, grab the brown mug for drinking from the table, rotate it, place it centrally, and with the right arm, hang it onto the angular rack with slanted support rod.",
+    "Pick the brown medium-sized ceramic mug, turn it, put it in the center, and transfer it to the medium rack with protruding rods.",
+    "Grab the light brown cylindrical mug, rotate it, place it on the table, and hook it onto the smooth dark gray rack.",
+    "With the left arm, pick the medium-sized mug, rotate it, place it, then hang it onto the metallic rack with smooth finish.",
+    "Use the left arm to grab the mug with curved handle, rotate it, place it down, and hang it onto the metal rack with the right arm.",
+    "Take the light brown mug with handle with one arm, rotate it, and hang it onto the dark gray angled rack.",
+    "Pick the drinking mug with smooth body from the table using one hand, rotate, and hang it on the dark gray angled rack.",
+    "Take the brown mug from the table, turn it, set it down, and attach it to the angular rack with slanted support rod.",
+    "Use the left arm to lift the hand-held ceramic mug, rotate it, put it down, then hook onto the metal rack.",
+    "Use your left arm to pick the light brown cylindrical mug, rotate it, set it down, and hang it onto the metallic rack with smooth finish.",
+    "Lift the light brown mug with handle, turn it around, set it in the middle, and place it on the smooth rack.",
+    "Grab the light brown mug with handle, rotate it, place it in the middle, and hang it on the metallic angular rack with rod pair.",
+    "Use the right arm to lift the brown medium-sized ceramic mug, rotate it, and attach it to the smooth rack after setting it down.",
+    "Lift the brown medium-sized ceramic mug, rotate it, put it down in the table's center, then hang it onto the dark gray angled rack.",
+    "Take the brown mug for drinking, rotate it, place it in the center, then hang it on the rack with angular body.",
+    "Lift the medium-sized mug, twist it, set it back, and secure it onto the rack with angular body.",
+    "Use the left arm to pick the drinking mug with smooth body, turn it, place it, then hang on the angular rack with slanted support rod.",
+    "Take the brown mug, rotate it, set it in the middle, then hang it on the angled rack with long and short rods.",
+    "Take the hand-held ceramic mug from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Use your left arm to grab the brown mug for drinking, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body.",
+    "Take the mug for holding liquid, rotate it, place it back on the table, and hang it on the angled rack with long and short rods afterward.",
+    "Pick the brown medium-sized ceramic mug using your left arm, turn it, set it on the table, and hang it on the rack with angular body with the right arm.",
+    "With the left arm, grab the medium-sized mug, spin it, place it down, then use the right arm to hang it on the rack with angular body.",
+    "Use your left arm to grab the hand-held ceramic mug, rotate it, set it down, then hang on the smooth dark gray rack.",
+    "Using the left arm, pick the mug for holding liquid, turn it, place it down, and hang it on the smooth rack.",
+    "Use the left arm to grab the medium-sized mug, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Pick the light brown mug with handle up, twist it, place it back, then hang it onto the metallic rack with smooth finish.",
+    "Take the ceramic mug from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.",
+    "Grab the brown medium-sized ceramic mug from the table, rotate it, place it, and hang it onto the metallic angular rack with rod pair.",
+    "Grab the brown mug for drinking, rotate it, place it in the middle, and hang it onto the metal rack.",
+    "Take the mug for holding liquid, rotate it, set it on the table's center, then hang it onto the metallic rack with smooth finish.",
+    "Lift the medium-sized mug from the table, turn it, put it down in the middle, then hang it onto the angled rack with long and short rods.",
+    "Pick the light brown cylindrical mug from the table, rotate it, place it, and then hang it onto the smooth dark gray rack.",
+    "Use the left arm to grab the brown mug for drinking, rotate it, set it down, then hang the brown mug for drinking onto the smooth dark gray rack.",
+    "Use the left arm to grab the brown mug, flip it, set it down, and then attach it to the rack with angular body.",
+    "Pick up the light brown mug, turn it, place it centrally, then hang the light brown mug onto the metallic rack with smooth finish.",
+    "Lift the light brown mug, give it a turn, and hang it onto the dark gray rack.",
+    "Lift the medium-sized mug, turn it, place it back, and move it onto the dark gray angled rack with the right arm.",
+    "Using your left arm, lift the ceramic mug, rotate it, place it down, then your right arm to hang it onto the metal rack.",
+    "Lift the brown mug from the table, rotate it, place it in the middle, and hang it on the smooth rack.",
+    "Use one arm to grab the brown mug for drinking, turn it, set it centrally, and use the other to hang it onto the metallic angular rack with rod pair.",
+    "Grab the medium-sized mug, turn it around, put it back, then attach it to the dark gray rack.",
+    "With the left arm, grab the brown medium-sized ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack.",
+    "Pick the drinking mug with smooth body, turn it, put it in the center, and transfer it to the angled rack with long and short rods.",
+    "Grab the mug with curved handle, rotate it, place it on the table, and hook it onto the metal rack.",
+    "With the left arm, pick the light brown cylindrical mug, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+    "Use the left arm to grab the brown medium-sized ceramic mug, rotate it, place it down, and hang it onto the medium rack with protruding rods with the right arm.",
+    "Take the mug for holding liquid with one arm, rotate it, and hang it onto the dark gray angled rack.",
+    "Pick the ceramic mug from the table using one hand, rotate, and hang it on the smooth rack.",
+    "Take the brown mug from the table, turn it, set it down, and attach it to the angular rack with slanted support rod.",
+    "Use the left arm to lift the drinking mug with smooth body, rotate it, put it down, then hook onto the angular rack with slanted support rod.",
+    "Use your left arm to pick the medium-sized mug, rotate it, set it down, and hang it onto the dark gray angled rack.",
+    "Lift the light brown mug with handle, turn it around, set it in the middle, and place it on the metallic rack with smooth finish.",
+    "Grab the mug for holding liquid, rotate it, place it in the middle, and hang it on the metallic rack with smooth finish.",
+    "Use the right arm to lift the brown mug for drinking, rotate it, and attach it to the smooth rack after setting it down.",
+    "Lift the hand-held ceramic mug, rotate it, put it down in the table's center, then hang it onto the metallic angular rack with rod pair.",
+    "Take the brown mug, rotate it, place it in the center, then hang it on the dark gray angled rack.",
+    "Lift the brown mug, twist it, set it back, and secure it onto the smooth rack.",
+    "Use the left arm to pick the light brown cylindrical mug, turn it, place it, then hang on the angular rack with slanted support rod.",
+    "Take the medium-sized mug, rotate it, set it in the middle, then hang it on the smooth dark gray rack.",
+    "Take the medium-sized mug from the table, spin it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+    "Use your left arm to grab the mug for holding liquid, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Take the light brown mug, rotate it, place it back on the table, and hang it on the metallic rack with smooth finish afterward.",
+    "Pick the light brown cylindrical mug using your left arm, turn it, set it on the table, and hang it on the smooth rack with the right arm.",
+    "With the left arm, grab the ceramic mug, spin it, place it down, then use the right arm to hang it on the smooth dark gray rack.",
+    "Use your left arm to grab the mug for holding liquid, rotate it, set it down, then hang on the medium rack with protruding rods.",
+    "Using the left arm, pick the brown medium-sized ceramic mug, turn it, place it down, and hang it on the rack with two rods sticking out.",
+    "Use the left arm to grab the drinking mug with smooth body, rotate it, place it in the middle, then use the right arm to hang it onto the medium rack with protruding rods.",
+    "Pick the hand-held ceramic mug up, twist it, place it back, then hang it onto the angled rack with long and short rods.",
+    "Take the ceramic mug from the table, rotate it, place it in the center, then hang it onto the rack with angular body.",
+    "Grab the mug for holding liquid from the table, rotate it, place it, and hang it onto the dark gray rack.",
+    "Grab the light brown mug with handle, rotate it, place it in the middle, and hang it onto the smooth dark gray rack.",
+    "Take the ceramic mug, rotate it, set it on the table's center, then hang it onto the metallic rack with smooth finish.",
+    "Lift the drinking mug with smooth body from the table, turn it, put it down in the middle, then hang it onto the smooth rack.",
+    "Pick the hand-held ceramic mug from the table, rotate it, place it, and then hang it onto the smooth dark gray rack.",
+    "Use the left arm to grab the mug with curved handle, rotate it, set it down, then hang the mug with curved handle onto the angular rack with slanted support rod.",
+    "Use the left arm to grab the drinking mug with smooth body, flip it, set it down, and then attach it to the rack with two rods sticking out.",
+    "Pick up the light brown mug with handle, turn it, place it centrally, then hang the light brown mug with handle onto the metallic rack with smooth finish.",
+    "Lift the drinking mug with smooth body, give it a turn, and hang it onto the metallic rack with smooth finish.",
+    "Lift the brown mug for drinking, turn it, place it back, and move it onto the dark gray angled rack with the right arm.",
+    "Using your left arm, lift the brown medium-sized ceramic mug, rotate it, place it down, then your right arm to hang it onto the smooth rack.",
+    "Lift the mug with curved handle from the table, rotate it, place it in the middle, and hang it on the dark gray angled rack.",
+    "Use one arm to grab the medium-sized mug, turn it, set it centrally, and use the other to hang it onto the dark gray angled rack.",
+    "Grab the light brown mug, turn it around, put it back, then attach it to the medium rack with protruding rods.",
+    "With the left arm, grab the hand-held ceramic mug from the table, rotate it, place it centrally, and with the right arm, hang it onto the smooth dark gray rack."
+  ],
+  "unseen": [
+    "Lift the mug with smooth texture from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the cylindrical mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug with smooth texture from the table, rotate it, and set it in the center. Then hang the mug with smooth texture on the dark gray rack with flat back.",
+    "Pick the cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the mug with smooth texture, rotate it, put it down, then attach it to the dark gray rack with flat back.",
+    "Lift the smooth ceramic mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the mug with smooth texture on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the smooth ceramic mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the cylindrical mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the mug with smooth texture from the table, rotate it, and set it in the center. Then hang the mug with smooth texture on the medium-sized rack.",
+    "Pick the smooth ceramic mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the cylindrical mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the cylindrical mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the smooth ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the smooth ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the mug with smooth texture from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the smooth ceramic mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the mug with smooth texture from the table, rotate it, and set it in the center. Then hang the mug with smooth texture on the rack with straight and slanted rods.",
+    "Pick the smooth ceramic mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the mug with smooth texture, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the cylindrical mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the mug with smooth texture on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the smooth ceramic mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the mug with smooth texture, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the cylindrical mug from the table, rotate it, and set it in the center. Then hang the cylindrical mug on the dark gray rack with flat back.",
+    "Pick the smooth ceramic mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the mug with smooth texture, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the cylindrical mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the mug with smooth texture from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the smooth ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug with smooth texture from the table, rotate it, and set it in the center. Then hang the mug with smooth texture on the rack with straight and slanted rods.",
+    "Pick the mug with smooth texture with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the smooth ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the cylindrical mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the mug with smooth texture on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the smooth ceramic mug, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the cylindrical mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the smooth ceramic mug from the table, rotate it, and set it in the center. Then hang the smooth ceramic mug on the dark gray rack with flat back.",
+    "Pick the smooth ceramic mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the mug with smooth texture from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the smooth ceramic mug on the table, rotate it, set it down in the middle, then hang it onto the dark gray rack with flat back.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the dark gray rack with flat back.",
+    "Pick the smooth ceramic mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the smooth ceramic mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug with smooth texture from the table, rotate it, and set it in the center. Then hang the mug with smooth texture on the dark gray rack with flat back.",
+    "Pick the cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the cylindrical mug from the table, spin it, set it down, and hang it on the dark gray rack with flat back.",
+    "Grab the cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the smooth ceramic mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the smooth ceramic mug from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the smooth ceramic mug, rotate it, place it on the table, and hang it on the dark gray rack with flat back.",
+    "Grab the smooth ceramic mug from the table, rotate it, and set it in the center. Then hang the smooth ceramic mug on the medium-sized rack.",
+    "Pick the cylindrical mug with the left arm, rotate, place it, then hang it on the rack with straight and slanted rods.",
+    "Lift the cylindrical mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the cylindrical mug from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the mug with smooth texture on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the cylindrical mug, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the mug with smooth texture from the table, rotate it, place it in the middle, and hang it onto the dark gray rack with flat back.",
+    "Pick up the cylindrical mug, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the smooth ceramic mug from the table, rotate it, and set it in the center. Then hang the smooth ceramic mug on the dark gray rack with flat back.",
+    "Pick the cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the smooth ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the mug with smooth texture from the table, spin it, set it down, and hang it on the medium-sized rack.",
+    "Grab the mug with smooth texture on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the cylindrical mug from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the mug with smooth texture, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the smooth ceramic mug from the table, rotate it, and set it in the center. Then hang the smooth ceramic mug on the rack with straight and slanted rods.",
+    "Pick the cylindrical mug with the left arm, rotate, place it, then hang it on the dark gray rack with flat back.",
+    "Lift the cylindrical mug, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the smooth ceramic mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the smooth ceramic mug from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods.",
+    "Pick up the mug with smooth texture, rotate it, place it on the table, and hang it on the rack with straight and slanted rods.",
+    "Grab the smooth ceramic mug from the table, rotate it, and set it in the center. Then hang the smooth ceramic mug on the dark gray rack with flat back.",
+    "Pick the cylindrical mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the mug with smooth texture, rotate it, put it down, then attach it to the medium-sized rack.",
+    "Lift the cylindrical mug from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the cylindrical mug on the table, rotate it, set it down in the middle, then hang it onto the rack with straight and slanted rods.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the medium-sized rack.",
+    "Pick the mug with smooth texture from the table, rotate it, place it in the middle, and hang it onto the medium-sized rack.",
+    "Pick up the cylindrical mug, rotate it, place it on the table, and hang it on the medium-sized rack.",
+    "Grab the cylindrical mug from the table, rotate it, and set it in the center. Then hang the cylindrical mug on the dark gray rack with flat back.",
+    "Pick the smooth ceramic mug with the left arm, rotate, place it, then hang it on the medium-sized rack.",
+    "Lift the smooth ceramic mug, rotate it, put it down, then attach it to the rack with straight and slanted rods.",
+    "Lift the mug with smooth texture from the table, spin it, set it down, and hang it on the rack with straight and slanted rods.",
+    "Grab the mug with smooth texture on the table, rotate it, set it down in the middle, then hang it onto the medium-sized rack.",
+    "Grab the mug with smooth texture, turn it, set it on the table, then hang it on the rack with straight and slanted rods.",
+    "Pick the mug with smooth texture from the table, rotate it, place it in the middle, and hang it onto the rack with straight and slanted rods."
+  ]
+}